Fuzzy adaptive impedance control of robot based on vision

	Fuzzy adaptive impedance control of robot based on vision
	Li, Er-Chao; Li, Zhan-Ming; Li, Wei
	2011-02-01
发表期刊	Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology)
ISSN	16727207
卷号	42 期号:2 页码:409-413
摘要	Hybrid control for visual/force servoing was studied in an unknown environment with six degrees of freedom industrial robot. Firstly, the one-to-one mapping relations between the image features of the curved line and the joint angle of the robot were derived. Secondly, an impedance control law was used to describe the conditions of the constant contact resulted from the end effector and the constrained surface while it was in motion, and then a fuzzy tuning mechanism was used to generate the impedance model. Lastly, the effectiveness of the presented approach was verified using six degrees of freedom robot with a CCD camera and a force/torque sensor installed in its end effector. The experimental results show that the strategy has a stronger curve tracking capabilities of the unknown surface and higher accuracy of force control, and parameters of camera need not be calibrated precisely; impedance parameters are modified real-time by fuzzy controller; the stability and dynamic behavior are improved, and the strategy is an effective controller for visual/force servoing.
关键词	CCD cameras Computer vision Controllers Degrees of freedom (mechanics) Electric arc welding End effectors Fuzzy control Robots Vision Force/torque sensor Impedance control Impedance modeling Impedance parameters One to one mapping relation Six degrees of freedom Tracking capability Unknown environments
收录类别	EI
语种	中文
出版者	Central South University of Technology
EI入藏号	20111913971878
EI主题词	Visual servoing
EI分类号	714.2 Semiconductor Devices and Integrated Circuits - 723.5 Computer Applications - 731 Automatic Control Principles and Applications - 731.5 Robotics - 732.1 Control Equipment - 931.1 Mechanics
来源库	Compendex
分类代码	538.2.1 Welding Processes - 714.2 Semiconductor Devices and Integrated Circuits - 723.5 Computer Applications - 731 Automatic Control Principles and Applications - 731.5 Robotics - 732.1 Control Equipment - 931.1 Mechanics
文献类型	期刊论文
条目标识符	https://ir.lut.edu.cn/handle/2XXMBERH/111271
专题	电气工程与信息工程学院
作者单位	Key Laboratory of Gansu Advanced Control for Industrical Processes, College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou 730050, China
第一作者单位	兰州理工大学
第一作者的第一单位	兰州理工大学
推荐引用方式 GB/T 7714	Li, Er-Chao,Li, Zhan-Ming,Li, Wei. Fuzzy adaptive impedance control of robot based on vision[J]. Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology),2011,42(2):409-413.
APA	Li, Er-Chao,Li, Zhan-Ming,&Li, Wei.(2011).Fuzzy adaptive impedance control of robot based on vision.Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology),42(2),409-413.
MLA	Li, Er-Chao,et al."Fuzzy adaptive impedance control of robot based on vision".Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) 42.2(2011):409-413.