FUZZY MODEL BASED CONTROL APPLIED TO IMAGE-BASED VISUAL SERVOING

Paulo J. Sequeira Gonçalves, L. F. Mendonça, J. M. Sousa, J. R. Caldas Pinto

Abstract

A new approach to eye-in-hand 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. An inverse model is identified for each trajectory using measurements data of a robotic manipulator, and it is directly used as a controller. As the inversion is not exact, steady-state errors must be compensated. This paper proposes the use of a fuzzy compensator to deal with this problem. The control scheme contains an inverse fuzzy model and a fuzzy compensator, which are applied to a robotic manipulator performing visual servoing, for a given profile of image features velocities. The obtained results show the effectiveness of the proposed control scheme: the fuzzy controller can follow a point-to-point pre-defined trajectory faster (or smoother) than the classic approach.

References

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Paper Citation


in Harvard Style

Sequeira Gonçalves P., Mendonça L., Sousa J. and Caldas Pinto J. (2004). FUZZY MODEL BASED CONTROL APPLIED TO IMAGE-BASED VISUAL SERVOING . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 972-8865-12-0, pages 143-150. DOI: 10.5220/0001133201430150


in Bibtex Style

@conference{icinco04,
author={Paulo J. Sequeira Gonçalves and L. F. Mendonça and J. M. Sousa and J. R. Caldas Pinto},
title={FUZZY MODEL BASED CONTROL APPLIED TO IMAGE-BASED VISUAL SERVOING},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2004},
pages={143-150},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001133201430150},
isbn={972-8865-12-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - FUZZY MODEL BASED CONTROL APPLIED TO IMAGE-BASED VISUAL SERVOING
SN - 972-8865-12-0
AU - Sequeira Gonçalves P.
AU - Mendonça L.
AU - Sousa J.
AU - Caldas Pinto J.
PY - 2004
SP - 143
EP - 150
DO - 10.5220/0001133201430150