Fuzzy logic control of a robot manipulator based on visual servoing

Author

Kim, Ch S. ; Seo, W.H. ; Han, S.H. ; Khatib, Oussama

Author_Institution

Dept. of Mech. Design, Kyungnam Univ., Masan, South Korea

Volume

3

fYear

2001

fDate

2001

Firstpage

1597

Abstract

In this paper, a solution to a manipulation control problem (target identification and grasping) using a real platform in combination with a vision system is proposed. The task for the end-effector is to approach a randomly placed spherical object of known size. The control law is approximated by using an approach based on fuzzy logic. The controller determines the parameters of the target (a spherical object acquired from the vision system mounted on the manipulator) using a vision algorithm. The fuzzy rules are built in a supervised way, after studying the behavior of the system. Experimental results obtained using an industrial manipulator (AM1 with 6 DOF model in Samsung Electronics Co., Ltd., Korea) are presented

Keywords

approximation theory; control system synthesis; feedback; fuzzy control; identification; industrial manipulators; robot vision; servomechanisms; AM1 industrial manipulator; control design; control law approximation; control performance; end-effector; robot manipulator fuzzy logic control; spherical object; target grasping; target identification; vision algorithm; visual servoing; Control systems; Electrical equipment industry; Electronics industry; Fuzzy logic; Fuzzy systems; Industrial electronics; Machine vision; Manipulators; Robot control; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2001. Proceedings. ISIE 2001. IEEE International Symposium on

Conference_Location

Pusan

Print_ISBN

0-7803-7090-2

Type

conf

DOI

10.1109/ISIE.2001.931945

Filename

931945