Behavioristic image-based pose control of mobile manipulators using an uncalibrated eye-in-hand vision system

Tsing Iuan James Tsay, Pei Jiun Hung

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)

Abstract

In the execution of material handling, the mobile manipulator is controlled to reach a station by its mobile base. This study adopts an uncalibrated eye-in-hand vision system to provide visual information for the manipulator to pick up a workpiece on the station. A novel vision-guided control strategy with a behavior-based look-and-move structure is proposed. This strategy is based on six image features, predefined by image moment method. In the designed neural-fuzzy controllers with varying learning rate, each image feature error is taken to generate intuitively one DOF motion command relative to the camera coordinate frame using fuzzy rules, which define a particular visual behavior. These behaviors are then fused to produce a final command action to perform grasping tasks using the proposed behavior fusion scheme. Finally, the proposed control strategy is experimentally applied to control the end-effector to approach and grasp a workpiece in various locations on a station.

Original languageEnglish
Pages (from-to)94-102
Number of pages9
JournalArtificial Life and Robotics
Volume23
Issue number1
DOIs
Publication statusPublished - 2018 Mar 1

All Science Journal Classification (ASJC) codes

  • Biochemistry, Genetics and Molecular Biology(all)
  • Artificial Intelligence

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