Uncalibrated eye-to-hand visual servoing using inverse fuzzy models

Detalhes bibliográficos
Autor(a) principal: Gonçalves, P.J.S.
Data de Publicação: 2008
Outros Autores: Mendonça, L.F., Sousa, J.M.C., Pinto, J.R.C.
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10400.11/5485
Resumo: (c) 2007 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.
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spelling Uncalibrated eye-to-hand visual servoing using inverse fuzzy modelsFuzzy controlFuzzy set theoryManipulator kinematicsRobot visionVisual servoingFuzzy modelingInverse fuzzy control(c) 2007 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.A new uncalibrated eye-to-hand visual servoing based on inverse fuzzy modeling is proposed in this paper. In classical visual servoing, the Jacobian plays a decisive role in the convergence of the controller, as its analytical model depends on the selected image features. This Jacobian must also be inverted online. Fuzzy modeling is applied to obtain an inverse model of the mapping between image feature variations and joint velocities. This approach is independent from the robot's kinematic model or camera calibration and also avoids the necessity of inverting the Jacobian online. An inverse model is identified for the robot workspace, using measurement data of a robotic manipulator. This inverse model is directly used as a controller. The inverse fuzzy control scheme is applied to a robotic manipulator performing visual servoing for random positioning in the robot workspace. The obtained experimental results show the effectiveness of the proposed control scheme. The fuzzy controller can position the robotic manipulator at any point in the workspace with better accuracy than the classic visual servoing approach.IEEERepositório Científico do Instituto Politécnico de Castelo BrancoGonçalves, P.J.S.Mendonça, L.F.Sousa, J.M.C.Pinto, J.R.C.2017-03-27T16:37:11Z2008-04-042008-04-04T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10400.11/5485engGonçalves, P.J.S. [et al.] (2008) - Uncalibrated eye-to-hand visual servoing using inverse fuzzy models. IEEE Transactions on Fuzzy Systems. ISSN 1063-6706.16 (2) 341-353. Doi 10.1109/TFUZZ.2007.8962261063-670610.1109/TFUZZ.2007.896226info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-01-16T11:41:10Zoai:repositorio.ipcb.pt:10400.11/5485Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T16:34:09.075555Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Uncalibrated eye-to-hand visual servoing using inverse fuzzy models
title Uncalibrated eye-to-hand visual servoing using inverse fuzzy models
spellingShingle Uncalibrated eye-to-hand visual servoing using inverse fuzzy models
Gonçalves, P.J.S.
Fuzzy control
Fuzzy set theory
Manipulator kinematics
Robot vision
Visual servoing
Fuzzy modeling
Inverse fuzzy control
title_short Uncalibrated eye-to-hand visual servoing using inverse fuzzy models
title_full Uncalibrated eye-to-hand visual servoing using inverse fuzzy models
title_fullStr Uncalibrated eye-to-hand visual servoing using inverse fuzzy models
title_full_unstemmed Uncalibrated eye-to-hand visual servoing using inverse fuzzy models
title_sort Uncalibrated eye-to-hand visual servoing using inverse fuzzy models
author Gonçalves, P.J.S.
author_facet Gonçalves, P.J.S.
Mendonça, L.F.
Sousa, J.M.C.
Pinto, J.R.C.
author_role author
author2 Mendonça, L.F.
Sousa, J.M.C.
Pinto, J.R.C.
author2_role author
author
author
dc.contributor.none.fl_str_mv Repositório Científico do Instituto Politécnico de Castelo Branco
dc.contributor.author.fl_str_mv Gonçalves, P.J.S.
Mendonça, L.F.
Sousa, J.M.C.
Pinto, J.R.C.
dc.subject.por.fl_str_mv Fuzzy control
Fuzzy set theory
Manipulator kinematics
Robot vision
Visual servoing
Fuzzy modeling
Inverse fuzzy control
topic Fuzzy control
Fuzzy set theory
Manipulator kinematics
Robot vision
Visual servoing
Fuzzy modeling
Inverse fuzzy control
description (c) 2007 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.
publishDate 2008
dc.date.none.fl_str_mv 2008-04-04
2008-04-04T00:00:00Z
2017-03-27T16:37:11Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10400.11/5485
url http://hdl.handle.net/10400.11/5485
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv Gonçalves, P.J.S. [et al.] (2008) - Uncalibrated eye-to-hand visual servoing using inverse fuzzy models. IEEE Transactions on Fuzzy Systems. ISSN 1063-6706.16 (2) 341-353. Doi 10.1109/TFUZZ.2007.896226
1063-6706
10.1109/TFUZZ.2007.896226
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv IEEE
publisher.none.fl_str_mv IEEE
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
repository.mail.fl_str_mv
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