Image Based Visual Servoing Using Proportional Controller with Compensator

Abstract

The main objective is to design a proportional controller of a robot manipulator using the fuzzy cerebellar model articulation controller based on Takagi-Sugeno (T-S) framework with a compensator. The controller and compensator apply in visual servoing, including system identification of image and kinematic Jacobians. The proposed approach is basically as a function of the visual error and extent from the error with respect to desire visual feature. This approach leads to enormous reduction on computational expense compared to the imagebased approaches of model inverse kinematics. The design of the controller architecture will make it possible to implement in general case. Proportional control variable are learned offline with the help of FCMAC-T-S model, and online compensator scheme has been proposed for adapting possible uncertainties in the unknown system and environment.Stimulation results have shown that visual servoing for tracking static target can be achieved using the proposed controller with compensator.

An Efficient TP Model Transformation Algorithm for Robust Visual Servoing in the Presence of Uncertain Data

“…Visual servoing enables robotic systems to perform positioning or tracking tasks in a non-structural environment [1]- [2]. Traditional visual servoing can be divided into image-based visual servoing (IBVS) [3], position-based visual servoing (PBVS) [4] and hybrid visual servoing [5]. The error signal of the classical IBVS is defined in the two-dimensional image feature space directly from the camera for feedback to control the motion of the robot.…”

Path planning for visual servoing with search algorithm

“…It is difficult to ensure accuracy in this system if the target is out of the visual field. In the IBVS, the error signal 3,4 is directly defined by the image feature, and the visual information feedback is directly used to change the image feature. The control quantity is calculated by the image characteristic error signal which turned into the robot motion space to drive the robot to the target position.…”