Uncalibrated eye-to-hand visual servoing using inverse fuzzy models

Bibliographic Details
Main Author: Gonçalves, Paulo
Publication Date: 2008
Other Authors: Mendonça, L.F., Sousa, João M.C., Pinto, J.R. Caldas
Format: Article
Language: eng
Source: Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
Download full: http://hdl.handle.net/10400.11/5485
Summary: A new uncalibrated eye-to-hand visual servoing based on inverse fuzzy modeling is proposed in this paper. In classical visual servoing, the Jacobian plays a decisive role in the convergence of the controller, as its analytical model depends on the selected image features. This Jacobian must also be inverted online. Fuzzy modeling is applied to obtain an inverse model of the mapping between image feature variations and joint velocities. This approach is independent from the robot's kinematic model or camera calibration and also avoids the necessity of inverting the Jacobian online. An inverse model is identified for the robot workspace, using measurement data of a robotic manipulator. This inverse model is directly used as a controller. The inverse fuzzy control scheme is applied to a robotic manipulator performing visual servoing for random positioning in the robot workspace. The obtained experimental results show the effectiveness of the proposed control scheme. The fuzzy controller can position the robotic manipulator at any point in the workspace with better accuracy than the classic visual servoing approach.
id RCAP_ed1a316d61841ae3d8a68f2d609a105d
oai_identifier_str oai:repositorio.ipcb.pt:10400.11/5485
network_acronym_str RCAP
network_name_str Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
repository_id_str https://opendoar.ac.uk/repository/7160
spelling Uncalibrated eye-to-hand visual servoing using inverse fuzzy modelsFuzzy controlFuzzy set theoryManipulator kinematicsRobot visionVisual servoingFuzzy modelingInverse fuzzy controlA new uncalibrated eye-to-hand visual servoing based on inverse fuzzy modeling is proposed in this paper. In classical visual servoing, the Jacobian plays a decisive role in the convergence of the controller, as its analytical model depends on the selected image features. This Jacobian must also be inverted online. Fuzzy modeling is applied to obtain an inverse model of the mapping between image feature variations and joint velocities. This approach is independent from the robot's kinematic model or camera calibration and also avoids the necessity of inverting the Jacobian online. An inverse model is identified for the robot workspace, using measurement data of a robotic manipulator. This inverse model is directly used as a controller. The inverse fuzzy control scheme is applied to a robotic manipulator performing visual servoing for random positioning in the robot workspace. The obtained experimental results show the effectiveness of the proposed control scheme. The fuzzy controller can position the robotic manipulator at any point in the workspace with better accuracy than the classic visual servoing approach.IEEERepositório Científico do Instituto Politécnico de Castelo BrancoGonçalves, PauloMendonça, L.F.Sousa, João M.C.Pinto, J.R. Caldas2017-03-27T16:37:11Z20082008-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10400.11/5485eng1063-670610.1109/TFUZZ.2007.896226info:eu-repo/semantics/openAccessreponame:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiainstacron:RCAAP2025-02-26T14:10:45Zoai:repositorio.ipcb.pt:10400.11/5485Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireinfo@rcaap.ptopendoar:https://opendoar.ac.uk/repository/71602025-05-28T21:26:04.169208Repositórios Científicos de Acesso Aberto de Portugal (RCAAP) - FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiafalse
dc.title.none.fl_str_mv Uncalibrated eye-to-hand visual servoing using inverse fuzzy models
title Uncalibrated eye-to-hand visual servoing using inverse fuzzy models
spellingShingle Uncalibrated eye-to-hand visual servoing using inverse fuzzy models
Gonçalves, Paulo
Fuzzy control
Fuzzy set theory
Manipulator kinematics
Robot vision
Visual servoing
Fuzzy modeling
Inverse fuzzy control
title_short Uncalibrated eye-to-hand visual servoing using inverse fuzzy models
title_full Uncalibrated eye-to-hand visual servoing using inverse fuzzy models
title_fullStr Uncalibrated eye-to-hand visual servoing using inverse fuzzy models
title_full_unstemmed Uncalibrated eye-to-hand visual servoing using inverse fuzzy models
title_sort Uncalibrated eye-to-hand visual servoing using inverse fuzzy models
author Gonçalves, Paulo
author_facet Gonçalves, Paulo
Mendonça, L.F.
Sousa, João M.C.
Pinto, J.R. Caldas
author_role author
author2 Mendonça, L.F.
Sousa, João M.C.
Pinto, J.R. Caldas
author2_role author
author
author
dc.contributor.none.fl_str_mv Repositório Científico do Instituto Politécnico de Castelo Branco
dc.contributor.author.fl_str_mv Gonçalves, Paulo
Mendonça, L.F.
Sousa, João M.C.
Pinto, J.R. Caldas
dc.subject.por.fl_str_mv Fuzzy control
Fuzzy set theory
Manipulator kinematics
Robot vision
Visual servoing
Fuzzy modeling
Inverse fuzzy control
topic Fuzzy control
Fuzzy set theory
Manipulator kinematics
Robot vision
Visual servoing
Fuzzy modeling
Inverse fuzzy control
description A new uncalibrated eye-to-hand visual servoing based on inverse fuzzy modeling is proposed in this paper. In classical visual servoing, the Jacobian plays a decisive role in the convergence of the controller, as its analytical model depends on the selected image features. This Jacobian must also be inverted online. Fuzzy modeling is applied to obtain an inverse model of the mapping between image feature variations and joint velocities. This approach is independent from the robot's kinematic model or camera calibration and also avoids the necessity of inverting the Jacobian online. An inverse model is identified for the robot workspace, using measurement data of a robotic manipulator. This inverse model is directly used as a controller. The inverse fuzzy control scheme is applied to a robotic manipulator performing visual servoing for random positioning in the robot workspace. The obtained experimental results show the effectiveness of the proposed control scheme. The fuzzy controller can position the robotic manipulator at any point in the workspace with better accuracy than the classic visual servoing approach.
publishDate 2008
dc.date.none.fl_str_mv 2008
2008-01-01T00:00:00Z
2017-03-27T16:37:11Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10400.11/5485
url http://hdl.handle.net/10400.11/5485
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 1063-6706
10.1109/TFUZZ.2007.896226
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv IEEE
publisher.none.fl_str_mv IEEE
dc.source.none.fl_str_mv reponame:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
instacron:RCAAP
instname_str FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
instacron_str RCAAP
institution RCAAP
reponame_str Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
collection Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
repository.name.fl_str_mv Repositórios Científicos de Acesso Aberto de Portugal (RCAAP) - FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
repository.mail.fl_str_mv info@rcaap.pt
_version_ 1833599274578870272

Similar Items