期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2013
卷号：10
期号：2
页码：108
DOI：10.5772/55593
语种：English
出版社：SAGE Publications
摘要：In this paper we consider the tracking control problem of planar robots manipulators via visual servoing in the presence of parametric uncertainties associated with the robot dynamics and the camera parameters. An image–based visual servo control is developed using a Takagi–Sugeno (T–S) fuzzy model. The design includes an image coordinate velocity observer. To the best knowledge of the authors such a proposal remains hitherto unpublished. The new scheme is compared experimentally with two different non–fuzzy algorithms showing the good performance and advantages of the complete system.
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