Visual servoing by a fuzzy reasoning method

Abstract

A visual servoing method is proposed for eye-in-hand robots. It employs a self-organizing fuzzy controller. There is defined a Jacobian that is not a function of a relative position of the object but is a function of the 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 its validity, the proposed method is applied to a 2D visual servoing task.<>