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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]
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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 |
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