Ulster University Logo

Ulster Institutional Repository

Image Based Visual Servoing of a 7 DOF Robot Manipulator Using Distributed Fuzzy Proportional Controller

Biomedical Sciences Research Institute Computer Science Research Institute Environmental Sciences Research Institute Nanotechnology & Advanced Materials Research Institute

Siradjuddin, Indrazno, Behera, Laxmidhar, McGinnity, TM and Coleman, SA (2010) Image Based Visual Servoing of a 7 DOF Robot Manipulator Using Distributed Fuzzy Proportional Controller. In: FUZZ-IEEE 2010, Barcelona. IEEE Computer Society. 8 pp. [Conference contribution]

Full text not available from this repository.

Abstract

This paper presents a distributed fuzzy propor-tional control system for a vision guided redundant robotmanipulator. Firstly, the Takagi Sugeno (TS) fuzzy algorithm isused to model analytical Image Based Visual Servoing (IBVS)using shape moments by offline learning. This control methodis applied to an uncalibrated robotic system with eye-in-handvisual feedback. The system is able to track a moving objectthrough a variety of motions and maintain the object’s imagefeatures in a desired position in the image plane without apriori knowledge of the robot kinematic, camera calibrationand inverse Jacobian. The experimental results of both staticand moving targets using the 7 DOF PowerCube manipulatorfrom Amtec Robotic show and verify its performance in a real-time application

Item Type:Conference contribution (Paper)
Faculties and Schools:Faculty of Computing & Engineering
Faculty of Computing & Engineering > School of Computing and Intelligent Systems
Research Institutes and Groups:Computer Science Research Institute
Computer Science Research Institute > Intelligent Systems Research Centre
ID Code:15354
Deposited By:Dr Sonya Coleman
Deposited On:01 Sep 2010 11:19
Last Modified:01 Sep 2010 11:19

Repository Staff Only: item control page