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
Original languageEnglish
Title of host publicationUnknown Host Publication
PublisherIEEE Computer Society
Pages1902-1909
Number of pages8
ISBN (Print)978-1-4244-6920-8
Publication statusPublished - 18 Jul 2010
EventFUZZ-IEEE 2010 - Barcelona
Duration: 18 Jul 2010 → …

Conference

ConferenceFUZZ-IEEE 2010
Period18/07/10 → …

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  • Cite this

    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). IEEE Computer Society.