Evolving Inverse Fuzzy Models for Uncalibrated Visual Servoing in 3D Workspace
نویسندگان
چکیده
In this paper, evolving inverse fuzzy models obtained online for uncalibrated visual servoing in 3D workspace, are developed and validated in a six degrees of freedom robotic manipulator. This approach will recursively update the inverse fuzzy model based only on measurements at a given time instant. The uncalibrated approach does not require calibrated kinematic and camera models, as needed in classical visual servoing to obtain the Jacobian. Experimental results obtained in a PUMA robot performing eye-to-hand visual servoing in 3D workspace are used to demonstrate the validity of the proposed approach, when compared to the previous developed off-line learning. Keywords— Visual Servoing, Fuzzy Control, Robotics, Evolving Fuzzy Systems.
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