Hybrid vision-force robot control for tasks on unknown smooth surfaces

被引：10
|
作者：
Leite, Antonio C. [1 ]
Lizarralde, Fernando [1 ]
Hsu, Liu [1 ]
机构：
[1] Univ Fed Rio de Janeiro, Dept Elect Engn, COPPE, BR-21945970 Rio De Janeiro, Brazil
来源：
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 | 2006年
关键词：
D O I：
10.1109/ROBOT.2006.1642037
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This work considers a hybrid force and vision control system for robotic manipulators using a force sensor and a fixed uncalibrated camera. A method is proposed to combine direct force control and adaptive visual servoing to perform tasks on unknown smooth surfaces, in the presence of uncertainties in the camera-robot system parameters. The considered task involves the visual tracking of a moving target, while the end-effector tip exerts a controlled contact force on the surface. Simulation results are presented to illustrate the performance of the proposed scheme.
引用
收藏
页码：2244 / 2249
页数：6
相关论文
共 50 条
  • [1] Hybrid Adaptive Vision-Force Control for Robot Manipulators Interacting with Unknown Surfaces
    Leite, Antonio C.
    Lizarralde, Fernando
    Hsu, Liu
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2009, 28 (07): : 911 - 926
  • [2] Hybrid Vision-Force Robot Force Control for Tasks on Soft Tissues
    Sheng, Qi
    Geng, Zhihang
    Hua, Lei
    Sheng, Xinjun
    2021 27TH INTERNATIONAL CONFERENCE ON MECHATRONICS AND MACHINE VISION IN PRACTICE (M2VIP), 2021,
  • [3] Hybrid vision-force control for robot with uncertainties
    Zhao, Y
    Cheah, CC
    2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, : 261 - 266
  • [4] Hybrid Vision-force Control for Human Robot Co-carrying on Ball and Board Systems
    Min, Gaochen
    Wu, Yifan
    Feng, Nan
    Yu, Xinbo
    Li, Guang
    He, Wei
    2023 IEEE INTERNATIONAL CONFERENCE ON DEVELOPMENT AND LEARNING, ICDL, 2023, : 220 - 224
  • [5] Hybrid Adaptive Vision-Force Control Under the Bottleneck Constraint
    Han, Lijun
    Zhang, Yuyou
    Wang, Hesheng
    IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2023, 31 (01) : 382 - 393
  • [6] Hybrid vision/force control for underwater vehicles landing on unknown surfaces
    Liu, Jie
    Yan, Weisheng
    Gao, Jian
    Chen, Yimin
    OCEAN ENGINEERING, 2022, 253
  • [7] Hybrid vision-force control for automatic assembly of miniaturized gear system
    Xie, H
    Chen, LG
    Sun, LN
    Rong, WB
    2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4, 2005, : 1368 - 1373
  • [8] Progressive automation of periodic tasks on planar surfaces of unknown pose with hybrid force/position control
    Dimeas, Fotios
    Doulgeri, Zoe
    2020 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2020, : 5246 - 5252
  • [9] Library Automation Using Different Structures of Vision-Force Robot Control and Automatic Decision System
    Bdiwi, Mohamad
    Suchy, Jozef
    2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2012, : 1677 - 1682
  • [10] A vision/position/force control approach for performing assembly tasks with a humanoid robot
    Dauchez, P
    Fraisse, P
    Pierrot, F
    2005 5TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS, 2005, : 277 - 282
12345