Visual servoing of a robotic manipulator based on fuzzy logic control

In this paper a solution to a manipulation control problem (target identification and grasping) using a real platform in combination with a vision system is proposed. The task for the end-effector is to approach a randomly placed spherical object of known size. The control law is approximated by using an approach based on fuzzy logic. The controller determines the parameters of the target (a spherical object acquired from the vision system mounted on the manipulator) using a vision algorithm. The fuzzy rules are built in a supervised approach after studying the behavior of the system. Experimental results obtained using an industrial manipulator (PUMA 560 with 6-DOF) are presented.