Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.11/5485
Título: Uncalibrated eye-to-hand visual servoing using inverse fuzzy models
Autor: Gonçalves, P.J.S.
Mendonça, L.F.
Sousa, J.M.C.
Pinto, J.R.C.
Palavras-chave: Fuzzy control
Fuzzy set theory
Manipulator kinematics
Robot vision
Visual servoing
Fuzzy modeling
Inverse fuzzy control
Data: 4-Abr-2008
Editora: IEEE
Citação: Gonçalves, P.J.S. [et al.] (2008) - Uncalibrated eye-to-hand visual servoing using inverse fuzzy models. In IEEE Transactions on Fuzzy Systems. ISSN 1063-6706.16 (2) 341-353.
Resumo: 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.
Descrição: (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.
Peer review: yes
URI: http://hdl.handle.net/10400.11/5485
DOI: 10.1109/TFUZZ.2007.896226
ISSN: 1063-6706
Versão do Editor: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=4374115
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