3D Visual Servo Fuzzy Controller Robust to Displacements of Cameras

This paper presents a 3D visual servo system using fuzzy controller for the command of a manipulator arm. The vision system is composed of two cameras; the first is installed above the robot, while the second is located on the lateral side of this one. These two cameras need no calibration, thus we can install them in any position and orientation with just the condition that the joints and the effector of the robot must remain always visible. Servoing is realized without any prior knowledge of the dynamic and geometric models of the robot. Only the positions, in pixels, of the effector and of the different joints, in the two images acquired by the two cameras, are used to realize this servoing. Colors have thus been assigned to the joints and to the effector to determine their positions.