No. 22 (2014) , Artículos
No. 22 (2014) | Artículos | Published 2014-06-01

Experimental Results for a LMIBased Fuzzy Visual Servoing Controller Applied in Robots Manipulators in 2D

Maximiliano Bueno López
Universidad de La Salle, Bogotá
Marco Antonio Arteaga Pérez
Universidad Nacional Autónoma de México
Fernando Lizarralde
Universidade Federal do Río de Janeiro, Brasil

Abstract

In this paper we consider a LMI-Based Fuzzy Visual Servoing controller for planar robot manipulators in the presence of parametric uncertainties associated with robot dynamics and camera parameters. For tracking purposes, a Takagi-Sugeno controller is used, based on the dynamic model of the robot in image coordinates. The design includes the use of Lyapunov functions as a fuzzy mixture of multiple quadratic functions for stability proof. Experimental results on two different robots (LAW3 SCHUNK and A465 CRS Robotics) show the good performance of the complete system
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Keywords

Visual servoing control
robots manipulators
fuzzy logic