Robotic adaptive impedance control based on visual guidance

doi:10.21307/ijssis-2017-847

	Robotic adaptive impedance control based on visual guidance
	Li Erchao; Li Zhanming; He Junxue
	2015
发表期刊	International Journal on Smart Sensing and Intelligent Systems
ISSN	1178-5608
卷号	8 期号:4 页码:2159-2174
摘要	Uncalibrated visual servoing based on SVR-Jacobian estimator is proposed in unknown environment. Multiple support vector regression (SVR) machines are used to estimate the Jacobian matrix of images and the nonlinear mapping between the image features of the curved line and therobot joint angle is constructed, uncalibrated robot impedance control can be carried out Image Jacobian matrix expression with Gaussian kernel is put forward, the effectiveness of the presented approach is verified by using a 6 DOF robot with a CCD camera and a force/torque sensorinstalled in its end effector.
关键词	CCD cameras End effectors Robots Vision Visual servoing Gaussian kernels Image jacobian matrix Impedance control Nonlinear mappings Robot impedance control Support vector regression (SVR) Uncalibrated visual servoing Unknown environments
DOI	10.21307/ijssis-2017-847
收录类别	EI ; ESCI
语种	英语
WOS研究方向	Engineering
WOS类目	Engineering, Electrical & Electronic
WOS记录号	WOS:000369651200014
出版者	Massey University
EI入藏号	20160501885541
EI主题词	Jacobian matrices
EI分类号	714.2 Semiconductor Devices and Integrated Circuits - 731.5 Robotics - 921.1 Algebra
来源库	Compendex
分类代码	714.2 Semiconductor Devices and Integrated Circuits - 731.5 Robotics - 921.1 Algebra
引用统计	无
文献类型	期刊论文
条目标识符	https://ir.lut.edu.cn/handle/2XXMBERH/112813
专题	电气工程与信息工程学院
通讯作者	Li Erchao
作者单位	Lanzhou Univ Technol, Lanzhou, Peoples R China
第一作者单位	兰州理工大学
通讯作者单位	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 Erchao,Li Zhanming,He Junxue. Robotic adaptive impedance control based on visual guidance[J]. International Journal on Smart Sensing and Intelligent Systems,2015,8(4):2159-2174.
APA	Li Erchao,Li Zhanming,&He Junxue.(2015).Robotic adaptive impedance control based on visual guidance.International Journal on Smart Sensing and Intelligent Systems,8(4),2159-2174.
MLA	Li Erchao,et al."Robotic adaptive impedance control based on visual guidance".International Journal on Smart Sensing and Intelligent Systems 8.4(2015):2159-2174.