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

Gonçalves, Paulo; Mendonça, L.F.; Sousa, João M.C.; Pinto, J.R. Caldas

Publication

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

2008Journal article

dc.contributor.author	Gonçalves, Paulo
dc.contributor.author	Mendonça, L.F.
dc.contributor.author	Sousa, João M.C.
dc.contributor.author	Pinto, J.R. Caldas
dc.date.accessioned	2017-03-27T16:37:11Z
dc.date.available	2017-03-27T16:37:11Z
dc.date.issued	2008
dc.description	(c) 2007 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.	pt_PT
dc.description.abstract	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.	pt_PT
dc.description.version	info:eu-repo/semantics/publishedVersion	pt_PT
dc.identifier.citation	GONÇALVES, P.J.S. [et al.] (2008) - Uncalibrated eye-to-hand visual servoing using inverse fuzzy models. IEEE Transactions on Fuzzy Systems. ISSN 1063-6706.16 (2) 341-353. Doi 10.1109/TFUZZ.2007.896226	pt_PT
dc.identifier.doi	10.1109/TFUZZ.2007.896226	pt_PT
dc.identifier.issn	1063-6706
dc.identifier.uri	http://hdl.handle.net/10400.11/5485
dc.language.iso	eng	pt_PT
dc.peerreviewed	yes	pt_PT
dc.publisher	IEEE	pt_PT
dc.relation	Programa de Financiamento Plurianual de Unidades de I&D (POCTI) do Quadro Comunitário de Apoio III, by program FEDER	pt_PT
dc.relation	POCTI/EME/39946/ 2001 - VISUAL SERVOING SYSTEMS APPLIED TO RIGID AND FLEXIBLE ROBOT MANIPULATORS	pt_PT
dc.relation	Programa do FSE-UE, PRODEP III, acção 5.3, no âmbito do III Quadro Comunitário de apoio	pt_PT
dc.relation.publisherversion	http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=4374115	pt_PT
dc.rights.uri	http://creativecommons.org/licenses/by/4.0/	pt_PT
dc.subject	Fuzzy control	pt_PT
dc.subject	Fuzzy set theory	pt_PT
dc.subject	Manipulator kinematics	pt_PT
dc.subject	Robot vision	pt_PT
dc.subject	Visual servoing	pt_PT
dc.subject	Fuzzy modeling	pt_PT
dc.subject	Inverse fuzzy control	pt_PT
dc.title	Uncalibrated eye-to-hand visual servoing using inverse fuzzy models	pt_PT
dc.type	journal article
dspace.entity.type	Publication
oaire.citation.endPage	353	pt_PT
oaire.citation.startPage	341	pt_PT
oaire.citation.title	IEEE Transactions on Fuzzy Systems	pt_PT
oaire.citation.volume	16	pt_PT
person.familyName	Gonçalves
person.givenName	Paulo
person.identifier.ciencia-id	2816-A2FA-C5A3
person.identifier.orcid	0000-0002-8692-7338
person.identifier.rid	E-5640-2012
person.identifier.scopus-author-id	35853838000
rcaap.rights	openAccess	pt_PT
rcaap.type	article	pt_PT
relation.isAuthorOfPublication	86a6a234-d690-4c2b-8bee-d58005eebba2
relation.isAuthorOfPublication.latestForDiscovery	86a6a234-d690-4c2b-8bee-d58005eebba2