Title :
Visual servoing by a fuzzy reasoning method
Author :
Suh, Hong, II ; Kim, Tae Won ; Heu, Shin ; Oh, Sang-Rok
Author_Institution :
Dept. of Electron. Eng., Hanyang Univ., Seoul, South Korea
Abstract :
A visual servoing method is proposed for eye-in-hand robots. It employs a self-organizing fuzzy controller. There is defined a Jacobian that is not a function of a relative position of the object but is a function of the image features. Instead of obtaining an analytic form of the proposed Jacobian, a self-organizing fuzzy controller is then proposed to alleviate difficulties in real-time implementation. To show its validity, the proposed method is applied to a 2D visual servoing task
Keywords :
adaptive control; computer vision; fuzzy logic; inference mechanisms; robots; self-adjusting systems; Jacobian; eye-in-hand robots; fuzzy reasoning method; image features function; self-organizing fuzzy controller; visual servoing; Cameras; Control systems; Fuzzy control; Fuzzy reasoning; Humans; Intelligent sensors; Jacobian matrices; Robot motion; Robot vision systems; Visual servoing;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174435
