CAJ | 학술논문

针对机械手对未标定的刚性环境的作用控制，给出一种基于位置的视觉和力混合控制策略。在视觉引导的阻抗控制下，机械手稳定接触目标工件；接触完全建立以后，再采用视觉和力同时控制。任务空间内的线性动态过程与标准的基于边缘的刚体跟踪器共同作用，该跟踪器把线性的误差动态提供给局部稳定观测器。实验和仿真结果证明了该方法的有效性。
침대궤계수대미표정적강성배경적작용공제，급출일충기우위치적시각화력혼합공제책략。재시각인도적조항공제하，궤계수은정접촉목표공건；접촉완전건립이후，재채용시각화력동시공제。임무공간내적선성동태과정여표준적기우변연적강체근종기공동작용，해근종기파선성적오차동태제공급국부은정관측기。실험화방진결과증명료해방법적유효성。
A position-based hybrid vision/force control scheme is presented and demonstrated for robot manipulator to interact with a stiff uncalibrated environment. The robot makes stable contact with the workpiece under vision guided impedance control, and when contact has been established the control switches to parallel vision/force control. A process with linear dynamics in task space is used together with a standard edge-based rigid body tracker, which gives a locally stable observer with linear error dynamics. Experiments and simulations are used to validate the approach.