Uncalibrated visual servoing in 3d workspace

Authors:
Paulo J. Sequeira Gonçalves;A. Paris;C. Christo;J. M. C. Sousa;J. R. Caldas Pinto
Affiliations:
Dept. of Industrial Engineering, Instituto Politécnico de Castelo Branco, Escola Superior de Tecnologia, Castelo Branco, Portugal;Dept. of Mechanical Engineering, GCAR/IDMEC, Technical University of Lisbon, Instituto Superior Técnico, Lisboa, Portugal;Dept. of Mechanical Engineering, GCAR/IDMEC, Technical University of Lisbon, Instituto Superior Técnico, Lisboa, Portugal;Dept. of Mechanical Engineering, GCAR/IDMEC, Technical University of Lisbon, Instituto Superior Técnico, Lisboa, Portugal;Dept. of Mechanical Engineering, GCAR/IDMEC, Technical University of Lisbon, Instituto Superior Técnico, Lisboa, Portugal
Venue:
ICIAR'06 Proceedings of the Third international conference on Image Analysis and Recognition - Volume Part II
Year:
2006

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Abstract

In this paper, inverse fuzzy models for uncalibrated visual servoing, in 3D Workspace, are developed and validated in a six degrees of freedom robotic manipulator. This approach does not require calibrated kinematic and camera models, as needed in classical visual servoing to obtain the Jacobian. Fuzzy modeling is used to identify the inverse Jacobian in the robot workspace. Robot control is achieved by means of using the inverse fuzzy models directly as the controller. Experimental results obtained in a PUMA robot performing eye-to-hand visual servoing demonstrate the validity of the approach.