퍼지추론에 의한 시각적 구동방법

Visual servoing by a fuzzy reasoning method

  • 김태원 (한양대학교 전자공학과) ;
  • 서일홍 (한양대학교 전자공학과) ;
  • 오상록 (한국과학기술원 제어시스템 연구실)
  • 발행 : 1991.10.01

초록

In this paper, a novel type of a visual servoing method is proposed for eye-in-hand robots by employing a self-organizing fuzzy controller. For this is there defined a new Jacobian riot to be the function of a relative position of the object but to be a function of the only 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 the validities, the proposed method is applied to a 2-dimensional visual servoing task.

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