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
刊名	Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology)
	2011-02-01
卷号	42 期号:2 页码:409-413
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
ISSN号	16727207
英文摘要	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.
语种	中文
出版者	Central South University of Technology
内容类型	期刊论文
源URL	[http://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
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.