Fuzzy Logic Control of a Robot Manipulator Based on Visual Servoing

  title={Fuzzy Logic Control of a Robot Manipulator Based on Visual Servoing},
  author={Ch. S. Kim and W. H.F. and Hong-gui Han},
In this paper a solution to a manipulation control problem(target identification and grasping) using a real platform in combination with a vision system is proposed. The task for the end-effector is to approach a randomly placed spherical object of known size. The control law is approximated by using an approach based on fuzzy logic. The controller determines the parameters of the target(a spherical object acquired from the vision system mounted on the manipulator) using a vision algorithm. The… CONTINUE READING


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