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Intelligent Pose Control of Mobile Robots Using an Uncalibrated Eye-in-Hand Vision System InTech
T. I. James Tsay; Y. F. Lai.
Mobile robots commonly need a guidance control system to navigate the mobile base and a method for performing the pick-and-place operations. The guidance control system and the non-planar ground inevitably cause the position and orientation errors of the mobile base. Therefore, this study proposes a behavior-based control strategy that employs an uncalibrated eye-in-hand vision system to control the end-effector of the manipulator to approach and grasp the target workpiece. All the designed behaviors are defined from the perspective of the camera and are mediated through fuzzy rules with a look-and-move control structure. The presented neural fuzzy controllers map image features in image space to relative motion commands in the camera frame. These motion...
Tipo: 9 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/intelligent_pose_control_of_mobile_robots_using_an_uncalibrated_eye-in-hand_vision_system
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