Fuzzy membership function based neural networks with applications to the visual servoing of robot manipulators

@article{Suh1994FuzzyMF,
  title={Fuzzy membership function based neural networks with applications to the visual servoing of robot manipulators},
  author={Il Hong Suh and Tae Won Kim},
  journal={IEEE Trans. Fuzzy Syst.},
  year={1994},
  volume={2},
  pages={203-220}
}
It is shown that there exists a nonlinear mapping which transforms image features and their changes to the desired camera motion without measuring of the relative distance between the camera and the object. This nonlinear mapping can eliminate several difficulties occurring in computing the inverse of the feature Jacobian as in the usual feature-based visual feedback control methods. Instead of analytically deriving the closed form of this mapping, a fuzzy membership function (FMF) based neural… 
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