Visual Based Control Scheme for a Robotic Manipulator with Duality of Task-Space Information and Friction Compensation

被引：0

作者：

Ismail, Zool H. ^{[1
]}

Faudzi, Ahmad A'. ^{[2
]}

Dunnigan, Matthew W. ^{[1
,2
]}

机构：

[1] Univ Teknol Malaysia, Ctr Artificial Intelligence & Robot CAIRO, Jalan Semarak, Kuala Lumpur 54100, Malaysia

[2] Heriot Watt Univ, Sch Engn & Phys Sci, Dept Elect Elect & Comp Sci, Edinburgh EH14 4AS, Midlothian, Scotland

来源：

MEDICAL AND REHABILITATION ROBOTICS AND INSTRUMENTATION (MRRI2013) | 2014年 / 42卷

关键词：

adaptive control; region control; visual control; robot manipulator;

D O I：

10.1016/j.procs.2014.11.063

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents a new control technique for a robot manipulator with dual task -space information and friction compensation. The control scheme allows the end effector to transit smoothly from Cartesian -space feedback to vision -space feedback when the target is inside the vicinity of the camera. An adaptive term is integrated into the proposed controller to compensate the uncertainty associated with parameters in the friction model, including the Stribeck effect. A Lyapunov-like function is presented for stability analysis of the proposed control law. Numerical simulations are presented to demonstrate the performance of the proposed control law for robot manipulator. (C) 2014 The Authors. Published by Elsevier B.V.

引用

页码：279 / 286

页数：8

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