Fuzzy logic control of a robot manipulator in 3D based on visual servoing

Abstract Visual servoing is a useful approach for robot control. It is specially attractive when the control objective can be stated directly in image coordinates. Fuzzy control is a practical alternative for a variety of challenging control applications since it provides a convenient method for constructing nonlinear controllers via the use of heuristic information, which for instance may come from an operator who has acted as a “human-in-the-loop” controller for a process. Fuzzy control strategy offers an alternative approach for many conventional systems, which has certain advantages over the other techniques. In this work, we proposed a control algorithm for a robot manipulator, which combines fuzzy logic with 3D visual servoing. For implementation only image coordinates are required. Simulation results show the good performance of the complete system.

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