Hand-eye coordination of a robot manipulator based on fuzzy logic

Hand-eye coordination of a robot system is a classical problem which mathematically can be described as an ill-posed inverse mapping problem. Different techniques have been developed to solve this inverse mapping problem. But most of the reported work has a common limitation that is the relative position between the camera and the robot must be fixed once the calibration is done. However, very often in real-world applications this may not be realistic either due to the random disturbances to the system or due to the need of repositioning the camera or moving the robot base to perform different task. In this case, usually a lengthy re-calibration process has to be carried out. In this paper, we briefly describe our technique which eliminates the need of re-calibration for the vertical position change of the camera. Our technique is based on the integration of the utilization of a close form mathematical formulation and fuzzy logic. An algorithm has been developed, an experiment has been performed on a 6-degree-of-freedom robot, and testing data has confirmed our design