In this paper we consider the tracking control\r\nproblem of planar robots manipulators via visual\r\nservoing in the presence of parametric uncertainties\r\nassociated with the robot dynamics and the camera\r\nparameters. An imageââ?¬â??based visual servo control is\r\ndeveloped using a Takagiââ?¬â??Sugeno (Tââ?¬â??S) fuzzy model.\r\nThe design includes an image coordinate velocity\r\nobserver. To the best knowledge of the authors such a\r\nproposalremainshithertounpublished.Thenewscheme\r\niscomparedexperimentallywithtwodifferentnonââ?¬â??fuzzy\r\nalgorithms showing the good performance and\r\nadvantagesofthecompletesystem.
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