Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2002.11c
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- Pages.485-488
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- 2002
Design of Fuzzy Controller for Vision-based Arm Robot
비전기반 암 로봇의 퍼지제어기 설계
- Shin, Hwa-Young (Dept. of Electrical Engineering, Korea University) ;
- Kim, Young-Joong (Dept. of Electrical Engineering, Korea University) ;
- Lim, Myo-Taeg (Dept. of Electrical Engineering, Korea University)
- Published : 2002.11.30
Abstract
In this paper, fuzzy logic controllers are designed for compensation of distance errors. Because we can't know information of the depth in a mono camera, these errors are occurred. Also, they are increased as a target object is to keep away from a center of image. Therefore, the errors for each position of joints of an arm robot should be modeled, but accurate models can't be obtained because of no information of the depth, uncertain feature points of image, parameter uncertainties, and illumination. Hence, fuzzy logic controllers for each error are designed for compensation. This paper consists of color image processing, error modeling, and the controller design. Experimental results are given to verify the effectiveness of our proposed method.
Keywords