视觉反馈跟踪自适应阻抗机器人控制

Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI:10.1109/ROBOT.1998.680609

V. Mut, O. Nasisi, R. Carelli, B. Kuchen

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引用次数: 9

摘要

提出了一种具有视觉反馈的机器人跟踪自适应阻抗控制器。它基于广义阻抗概念，将感知到的距离作为虚拟力引入到控制中，以便在受限运动任务中避开障碍物。该控制器设计用于补偿机器人的全部非线性动力学。为了减少控制器设计对机器人和被控负载动态不确定性的敏感性，引入了机器人参数调整。证明了视觉控制误差最终在图像坐标系中是有界的。通过仿真来评估控制器的性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Tracking adaptive impedance robot control with visual feedback

We propose a tracking adaptive impedance controller for robots with visual feedback. It is based on a generalized impedance concept where the sensed distance is introduced as a fictitious force to the control in order to avoid obstacles in restricted motion tasks. The controller is designed to compensate for full nonlinear robot dynamics. Robot parameters adjustment is introduced to reduce the sensuality of the controller design to dynamic uncertainties of the robot and the manipulated load. It is proved that the vision control errors are ultimately bounded in the image coordinate system. Simulations are carried out to evaluate the controller performance.

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来源期刊

Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)

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