Fuzzy Filters Applied to Path Planning Visual Servoing

A new approach to improve regulation and path planning visual servoing is proposed in this paper, where fuzzy filters are applied to smooth the control action. In visual servoing the speed of convergence depends on a constant gain, that directly influences the velocity of the robot manipulator joints. This velocity can achieve undesired behavior in regulation visual servoing due to its intrinsically discrete behavior and because a proportional control is normally used. In visual servoing by path planning the goal is to diminish the control actions during the servoing. In this paper the image features error is filtered by means of fuzzy filters, to improve the behavior of the robot joint velocities, without degrading the performance of the servoing. Experimental results are presented for a 2 degrees-offreedom (DOF) robot manipulator, which is performing visual servoing, moving to a pre-defined image features position. Simulation results are also presented when the 2 DOF robot manipulator is following a planned trajectory in the image space.