Design and Implement of Fuzzy control of a Robotic Camera for Target Tracking

Authors

Shahrood University of Technology

Abstract

This paper presents the design and implementation of fuzzy control for a robotic camera in tracking an object. The robotic camera which consists of a robotic arm and a camera, locates the moving object on the center of the image frame. The proposed controller uses the voltage control strategy and transforms the task-space tracking error to the joint-space tracking error using fuzzy systems. This control approach which has been implemented for the first time, is free from the dynamical model of the arm and robust against image uncertainties. Compared with the conventional control of robot that is based on the torque control strategy, it is simpler and computationally more efficient. In addition, it employs the blob tracking algorithm and centroid tracking algorithm for tracking the object in image frame. The experimental results provided by a two-link robotic camera driven by permanent magnet dc motors confirm that the proposed control approach is superior to the proportional-derivative control.

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References

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Journal of Solid and Fluid Mechanics
Volume 4, Issue 1 - Serial Number 1
March and April 2014
Pages 1-10

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