Visual servoing system based on ANFIS (adaptive neuro fuzzy inference system)

Gyu-Jong Choi; Kyoung-Soo Lee; Doo-Sung Ahn

doi:10.1117/12.444185

5 October 2001 Visual servoing system based on ANFIS (adaptive neuro fuzzy inference system)

Gyu-Jong Choi, Kyoung-Soo Lee, Doo-Sung Ahn

Proceedings Volume 4572, Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision; (2001) https://doi.org/10.1117/12.444185
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States

Abstract

Research in this visual servoing field in the past few decades has produced remarkable results, leading to many exciting expectations as well as new challenges. However, because of the complicated calculation of the inverse Jacobian, it is difficult to implement in real time. Therefore, instead of using the inverse Jacobian, this paper employs the ANFIS (Adaptive Neuro Fuzzy Inference System) approach for visual servo control of a robot manipulator. It is based on visual feedback and no prior information about the kinematics of robot and the camera calibration are unnecessary. Firstly, to efficiently control a manipulator, 3D space is divided into two 2D spaces. And then, we acquire training data from each 2D space and ANFIS is learned by the training data. We categorize the robot movement into two kinds of actions. That is, TOWARD action is performed, in the xy plane, by joint 1 and APPROACH action is performed, in the plane orthogonal to the xy plane, by joint 2 and joint 3. The time varying object can be tracked by controlling both actions in each plane and the simulation results show the validation of our approach.

Citation Download Citation

Gyu-Jong Choi, Kyoung-Soo Lee, and Doo-Sung Ahn "Visual servoing system based on ANFIS (adaptive neuro fuzzy inference system)", Proc. SPIE 4572, Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision, (5 October 2001); https://doi.org/10.1117/12.444185

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available