Abstract
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. © Springer-Verlag 2004.
Cite
CITATION STYLE
Sequeira Gonçalves, P. J., Mendonça, L. F., Sousa, J. C., & Pinto, J. R. C. (2004). Fuzzy model based control applied to path planning visual servoing. Lecture Notes in Computer Science (Including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 3287, 224–231. https://doi.org/10.1007/978-3-540-30463-0_28
Register to see more suggestions
Mendeley helps you to discover research relevant for your work.
