Image Based Visual Servoing of a 7 DOF Robot Manipulator Using Distributed Fuzzy Proportional Controller

Indrazno Siradjuddin, Laxmidhar Behera, TM McGinnity, SA Coleman

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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
LanguageEnglish
Title of host publicationUnknown Host Publication
Pages1902-1909
Number of pages8
Publication statusPublished - 18 Jul 2010
EventFUZZ-IEEE 2010 - Barcelona
Duration: 18 Jul 2010 → …

Conference

ConferenceFUZZ-IEEE 2010
Period18/07/10 → …

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Visual servoing
Manipulators
Robotics
Robots
Controllers
Analytical models
Kinematics
Cameras
Feedback
Control systems

Cite this

Siradjuddin, Indrazno ; Behera, Laxmidhar ; McGinnity, TM ; Coleman, SA. / Image Based Visual Servoing of a 7 DOF Robot Manipulator Using Distributed Fuzzy Proportional Controller. Unknown Host Publication. 2010. pp. 1902-1909
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Siradjuddin, I, Behera, L, McGinnity, TM & Coleman, SA 2010, Image Based Visual Servoing of a 7 DOF Robot Manipulator Using Distributed Fuzzy Proportional Controller. in Unknown Host Publication. pp. 1902-1909, FUZZ-IEEE 2010, 18/07/10.

Image Based Visual Servoing of a 7 DOF Robot Manipulator Using Distributed Fuzzy Proportional Controller. / Siradjuddin, Indrazno; Behera, Laxmidhar; McGinnity, TM; Coleman, SA.

Unknown Host Publication. 2010. p. 1902-1909.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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