Fuzzy model based control applied to path planning visual servoing

A new approach to eye-in-hand path planning image-based visual servoing based on fuzzy modeling and control is proposed in this paper. Fuzzy modeling is applied to obtain an inverse model of the mapping between image features velocities and joints velocities, avoiding the necessity of inverting the Jacobian. The inverse model is directly used as a controller. The control scheme is applied to a robotic manipulator performing visual servoing, for a given profile of planned image features velocities. The obtained results show the effectiveness of the proposed control scheme.