Fuzzy model based control applied to path planning visual servoing

被引：0
|
作者：
Gonçalves, PJS
Mendonça, LF
Sousa, JC
Pinto, JRC
机构：
[1] Inst Politecn Castelo Branco, Escola Super Tecnol, Dept Ind Engn, P-6000767 Castelo Braco, Portugal
[2] Univ Tecn Lisboa, Inst Super Tecn, Dept Mech Engn, GCAR IDMEC, P-1049001 Lisbon, Portugal
来源：
PROGRESS IN PATTERN RECOGNITION, IMAGE ANALYSIS AND APPLICATIONS | 2004年 / 3287卷
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
A new approach to eye-in-hand path planning image-based visual servoing based on fuzzy modeling and control is proposed in this paper. Fuzzy modeling is applied to obtain an inverse model of the mapping between image features velocities and joints velocities, avoiding the necessity of inverting the Jacobian. The inverse model is directly used as a controller. The control scheme is applied to a robotic manipulator performing visual servoing, for a given profile of planned image features velocities. The obtained results show the effectiveness of the proposed control scheme.
引用
收藏
页码：224 / 231
页数：8
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