Robot Hand-Eye Coordination Based on Fuzzy Logic

摘要: Hand-eye coordination of a robot system is classical problem in robotic vision, which mathematically can be described as an ill-posed inverse mapping problem. Different techniques have been developed to solve this problem, but most the reported work has common limitation that relative position between given and camera must fixed once calibration finished. However, very often real-world applications may not realistic either due random disturbances or need repositioning moving base new order perform required task. In case, usually lengthy re-calibration process carried out. paper, we describe our technique eliminates for vertical change camera. Our based on integration utilization close form mathematical formulation fuzzy logic. Using logic technique, are able deal unknown amount changes position. image processing estimate distance land marks, derived reasoning model allows us calculate matrix. The algorithm implemented 6-degree-of-freedom system. Experiments were conducted result confirmed design.