제어로봇시스템학회:학술대회논문집
- 1991.10a
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- Pages.984-989
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- 1991
Visual servoing by a fuzzy reasoning method
퍼지추론에 의한 시각적 구동방법
Abstract
In this paper, a novel type of a visual servoing method is proposed for eye-in-hand robots by employing a self-organizing fuzzy controller. For this is there defined a new Jacobian riot to be the function of a relative position of the object but to be a function of the only image features. Instead of obtaining an analytic form of the proposed Jacobian, a self-organizing fuzzy controller is then proposed to alleviate difficulties in real-time implementation. To show the validities, the proposed method is applied to a 2-dimensional visual servoing task.
Keywords