I Designing a Fuzzy Controller for Visual Servoing of a Robot Manipulator with Online Adjustment Capability

Fatemeh Abadianzadeh, Vali Derhami, Mehdi Rezaeian
2018 Journal of Control   unpublished
Vision-based robot control is a method to motion control of a robot using information extracted from visual sensors. In traditional approaches, a model of robot and camera are needed. Obtaining these models are time consuming and sometimes impossible. Recently, intelligent methods are used to cope the above challenges. In this paper, a hybrid fuzzy controller is proposed to control a robot manipulator. Visual inputs of the controller are provided by Kinect and outputs are the rotation of joints
more » ... rotation of joints motors. The hybrid controller contains two controllers. The first controller in based on fuzzy inverse model which approximates real inverse model of robot using gathered data. In order to increase accuracy, a fuzzy expert controller is designed and it is used when the end-effector is in the predefined near-goal area. Since determining exact value of the fuzzy expert controller parameters is impossible, in addition to make system adaptive with small changes in the environment, actor-critic architecture is used. This architecture is a well known continuous reinforcement learning methods. The proposed method is applied to control a real robot manipulator ‫خلذ‬ ،‫وٌتشل‬ ِ‫هدل‬ 12 ُ‫ؿوبس‬ ، 1 ‫ثْبس‬ ، 1397 (ARM_6AX18). Experimental results show that using the proposed method in practice, the end-effector reaches from any random start position to the goal position with a good accuracy in robot workspace.