Title :
Robot visual servo control based on fuzzy adaptive PID
Author :
Jie Dong ; Yu Hu ; Kaixiang Peng
Author_Institution :
Sch. of Autom. & Electr. Eng., Univ. of Sci. & Technol. Beijing, Beijing, China
Abstract :
Visual servo control is one of the central issues in the research field of intelligent robot. In order to obtain more effective information from the environment, visual sensor is used in robot control. This paper sets up the suitable model of the robot, with mathematical formulas derivation of visual servo control. Fuzzy adaptive PID is introduced to IBVS, in order to get a better performance. The simulation result shows that control strategy is effective.
Keywords :
adaptive control; fuzzy control; mathematical analysis; robot vision; three-term control; visual servoing; fuzzy adaptive PID; intelligent robot; mathematical formulas derivation; robot visual servo control; visual sensor; Cameras; Jacobian matrices; Robot kinematics; Servosystems; Vectors; Visualization; Fuzzy adaptive PID; Robot; Visual controller; Visual servo control;
Conference_Titel :
Systems and Informatics (ICSAI), 2012 International Conference on
Conference_Location :
Yantai
Print_ISBN :
978-1-4673-0198-5
DOI :
10.1109/ICSAI.2012.6223282
