Abstract
A new approach to eye-in-hand path planning image-based visual servoing based on fuzzy modeling and control is proposed in this paper. Fuzzy modeling is applied to obtain an inverse model of the mapping between image features velocities and joints velocities, avoiding the necessity of inverting the Jacobian. The inverse model is directly used as a controller. The control scheme is applied to a robotic manipulator performing visual servoing, for a given profile of planned image features velocities. The obtained results show the effectiveness of the proposed control scheme.
Chapter PDF
Similar content being viewed by others
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
References
Babuška, R.: Fuzzy Modeling for Control. Kluwer Academic Publishers, Boston (1998)
Dementhon, D., Davis, L.: Model-based object pose in 25 lines of code. International Journal of Computer Vision 15(1/2), 123–141 (1995)
Espiau, B., Chaumette, F., Rives, P.: A new approach to visual servoing in robotics. IEEE Transactions on Robotics and Automation 8(3), 313–326 (1992)
Gonca̧lves, P.S., Pinto, J.C.: Camera configurations of a visual servoing setup, for a 2 dof planar robot. In: Proceedings of the 7th International IFAC Symposium on Robot Control, Wroclaw, Poland, September 2003, pp. 181–187 (2003)
Gustafson, D.E., Kessel, W.C.: Fuzzy clustering with a fuzzy covariance matrix. In: Proceedings IEEE CDC, San Diego, USA, pp. 761–766 (1979)
Hutchinson, S., Hager, G., Corke, P.: A tutorial on visual servo control. IEEE Transactions on Robotics and Automation 12(5), 651–670 (1996)
Mezouar, Y., Chaumette, F.: Path planning for robust image-based control. IEEE Transactions on Robotics and Automation 18(4), 534–549 (2002)
Sousa, J., Silva, C., da Costa, J.S.: Fuzzy active noise modeling and control. International Journal of Approximate Reasoning 33, 51–70 (2003)
Suh, I., Kim, T.: Fuzzy membership function based neural networks with applications to the visual servoing of robot manipulators. IEEE Trans. on Fuzzy Systems 2(3), 203–220 (1994)
Tahri, O., Chaumette, F.: Application of moment invariants to visual servoing. In: Proc. of the IEEE Int. Conf. on Robotics and Automation, Taipeh, Taiwan, pp. 4276–4281 (2003)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2004 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Sequeira Gonçalves, P.J., Mendonça, L.F., Costa Sousa, J., Caldas Pinto, J.R. (2004). Fuzzy Model Based Control Applied to Path Planning Visual Servoing. In: Sanfeliu, A., Martínez Trinidad, J.F., Carrasco Ochoa, J.A. (eds) Progress in Pattern Recognition, Image Analysis and Applications. CIARP 2004. Lecture Notes in Computer Science, vol 3287. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-30463-0_28
Download citation
DOI: https://doi.org/10.1007/978-3-540-30463-0_28
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-23527-9
Online ISBN: 978-3-540-30463-0
eBook Packages: Springer Book Archive
