Visual servoing of a robotic manipulator based on fuzzy logic control for handling fabric lying on a table

摘要

This paper introduces a visual servoed manipulator controller based on fuzzy logic to guide a fabric towards a sewing machine. The task of the end-effector is to handle a randomly located fabric on a table and feed it to the sewing needle along the desired seam. The proposed fuzzy controller determines the linear and angular velocity of the end-effector taking into account the current position and orientation of the fabric which derive from the vision system. The fuzzy rules are derived after studying the behavior of human workers during sewing and the membership functions are formed after simulation and extended experimentation. The experimental results demonstrate the efficiency of the system as well as the robustness of the controller performance.