TY - JOUR
T1 - A new fuzzy visual servoing with application to robot manipulator
AU - Moreno-Armendariz, Marco A.
AU - Yu, Wen
PY - 2009
Y1 - 2009
N2 - Many stereo vision algorithms require that the images which are very similar in appearance, and the distance between the two cameras should be small enough. Normal visual servoing of robot manipulator needs both image information and joint velocities. In this paper we make two modifications to overcome these problems: a new simple stereo vision model is proposed fuzzy controller based on only visual information is implemented to a robot manipulator. We successfully apply our new algorithms to real-time visual servoing of an industrial robot. The stereo model proposed in this paper can also be extended to other applications such as, mobile robots, 3D reconstruction, etc.
AB - Many stereo vision algorithms require that the images which are very similar in appearance, and the distance between the two cameras should be small enough. Normal visual servoing of robot manipulator needs both image information and joint velocities. In this paper we make two modifications to overcome these problems: a new simple stereo vision model is proposed fuzzy controller based on only visual information is implemented to a robot manipulator. We successfully apply our new algorithms to real-time visual servoing of an industrial robot. The stereo model proposed in this paper can also be extended to other applications such as, mobile robots, 3D reconstruction, etc.
KW - fuzzy servoing
KW - manipulator
KW - stereo vision
UR - http://www.scopus.com/inward/record.url?scp=77953878507&partnerID=8YFLogxK
U2 - 10.1504/IJAMechS.2009.023198
DO - 10.1504/IJAMechS.2009.023198
M3 - Artículo
SN - 1756-8412
VL - 1
SP - 157
EP - 167
JO - International Journal of Advanced Mechatronic Systems
JF - International Journal of Advanced Mechatronic Systems
IS - 3
ER -