Robotic Adaptive Impedance Control Based On Visual Guidance

Erchao, Li; Zhanming, Li; Junxue, He

doi:10.21307/ijssis-2017-847

Abstract

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 the robot 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 sensor installed in its end effector

References

Sehun Kim, Jong-Phil Kim, Jeha Ryu, “Adaptive Energy-Bounding Approach for Robustly Stable Interaction Control of Impedance-Controlled Industrial Robot With Uncertain Environments”, IEEE/ASME Transactions on Mechatronics, Vol. 19, no. 4, 2014, pp. 1195-1205.10.1109/TMECH.2013.2276935
Search in Google Scholar Back to article
Liu, Hongli, Tang, Yufeng, Zhu, Qixin, Xie, Guangming, “Present research situations and future prospects on biomimetic robot fish”, International Journal on Smart Sensing and Intelligent Systems, Vol. 7, no, 2, 2014, pp. 458-480.10.21307/ijssis-2017-665
Search in Google Scholar Back to article
Wei-Chen Wang, Ching-Hung Lee, “Fuzzy Neural Network-based Adaptive Impedance Force Control Design of Robot Manipulator under Unknown Environment”, IEEE International Conference on Fuzzy Systems,2014,pp.1442-144810.1109/FUZZ-IEEE.2014.6891669
Search in Google Scholar Back to article
Xu Dong, Zhang Shaoguang, Li Xuerong, Liu Min, Wei Hongxing, “Impedance Control of Robot Manipulator with Model Reference Torque Observer”, IEEE Conference on Industrial Electronics and Applications,2013,pp.994-99810.1109/ICIEA.2013.6566512
Search in Google Scholar Back to article
Mustafa Suphi Erden, Aude Billard, “End-point Impedance Measurements at Human Hand during Interactive Manual Welding with Robot”, IEEE International Conference on Robotics & Automation,2014,pp.126-133
Search in Google Scholar Back to article
Toshio TSuji,Makoto Kaneko, “Noncontact impedance control for redundant manipulators”, IEEE Transactions on Systems,Man,and Cybemetics, Vol. 29, no. 2, 1999, pp. 184-19310.1109/3468.747853
Search in Google Scholar Back to article
Wen shuang-quan, “Multi-fingered Robotic Hand Grasp Planning”, Doctor of Engineering thesis, Zhejiang University, China, July 2012
Search in Google Scholar Back to article
Hosoda, K, Igarashi, K,Asada, M, “Adaptive hybrid control for visual and force servoing in an unknown environment”, Robotics & Automation Magazine, Vol. 5, no. 4, 1998, pp. 39-4310.1109/100.740464
Search in Google Scholar Back to article
Vincenzo Lippiello, Bruno Siciliano, Luigi Villani, “Robot Interaction Control Using Force and Vision”, International Conference on Intelligent Robots and Systems, 2006, pp. 1470-147510.1109/IROS.2006.281974
Search in Google Scholar Back to article
Ruben Smits, Herman Bruyninckx, Wim Meeussen, “Model Based Position–Force–Vision Sensor Fusion for Robot Compliant Motion Control”, IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, 2006, pp. 501-50610.1109/MFI.2006.265636
Search in Google Scholar Back to article
Y. Zhao,C. C. Cheah, J.J.E. Slotine, “Adaptive Vision and Force Tracking Control of Constrained Structural Uncertainties”, IEEE International Conference on Robotics and Automation, 2007, pp. 2349-235410.1109/ROBOT.2007.363670
Search in Google Scholar Back to article
J. POMARES, G. J. GARCÍA, L. PAYÁ, F, “Adaptive visual servoing and force control fusion to track surfaces”, WSEAS Transactions on Systems, Vol. 5, no. 1, 2006, pp. 25-32
Search in Google Scholar Back to article
Antonio C. Leite, Fernando Lizarralde, Liu Hsu, “Hybrid Vision-Force Robot Control for Tasks on Unknown Smooth Surfaces”, IEEE International Conference on Robotics and Automation, 2006, pp. 2244-2249
Search in Google Scholar Back to article
Hui Zhang, Heping Chen, “On-Line Path Generation for Robotic Deburring of Cast Aluminum Wheels”, International Conference on Intelligent Robots and Systems, 2006, pp. 2400-240510.1109/IROS.2006.281679
Search in Google Scholar Back to article
Nobutaka Tsujiuchi, Takayuki Koizumi, Masashi Hashimoto, “Contact Task with an Unknown Inclined Plane”, IEEE International Conference on Robotics and Biomimetics, 2007, pp. 1440-144510.1109/ROBIO.2007.4522376
Search in Google Scholar Back to article
Sang-Wook Jeon, Doo-Sung Ahn, Hyo-Jeong Bae, “Object Contour Following Task based on Integrated Information of Vision and Force sensor”, International Conference on Control, Automation and Systems, 2007, pp. 1040-104510.1109/ICCAS.2007.4407051
Search in Google Scholar Back to article
Alkkiomaki, O.,Kyrki, V., Kalviainen, H, “Online trajectory following with position based force/vision control”, International Conference on Advanced Robotics, 2009, pp. 1-6
Search in Google Scholar Back to article
Isela Bonilla, Emilio J. Gonz’alez-Galv’an, C’esar Ch’avez-Olivares, Marco Mendoza, “A Vision-based, Impedance Control Strategy for Industrial Robot Manipulators”, IEEE Conference on Automation Science and Engineering, 2010, pp. 216-22110.1109/COASE.2010.5584481
Search in Google Scholar Back to article
QIU Lian-kui, ZHANG Yan-xia, “Robot Manipulator Curve Tracking in an Uncertain Plane Based on Force and Vision Sensing”, Fire Control & Command Control, Vol. 38, no. 9, 2013, pp. 42-45
Search in Google Scholar Back to article
LI Er-chao,LI Wei, “Hybrid force/position control for positional controlled roboticmanipulators in unknown environment”, Journal of China Coal Society, Vol. 32, no. 6, 2007, pp. 657-661
Search in Google Scholar Back to article
Nelson,B.J, Morrow, J.D, Khosla, P.K, “Fast stable contact transitions with a stiff manipulator using force and vision feedback”, IEEE/RSJ International Conference on Intelligent Robots and Systems,1995, pp. 90-95
Search in Google Scholar Back to article
JA Piepmeier, GV Mcmurray, H Lipkin, “Uncalibrated dynamic visual servoing”, IEEE Transactions on Robotics & Automation, Vol. 20, no. 1, 2004, pp. 143-14710.1109/TRA.2003.820923
Search in Google Scholar Back to article
BH Yoshimi, PK Allen, “Alignment Using An Uncalibrated Camera System”, IEEE Transactions on Robotics & Automation, Vol. 11, no. 4, 1995, pp. 516-52110.1109/70.406936
Search in Google Scholar Back to article
LI You-xin, MAO Zong-yuan, TIAN Lian-fang, “Visual servoing of 4DOF using image moments and neural network”, Control Theory & Applications, Vol. 26, no. 10, 2009, pp. 11621166
Search in Google Scholar Back to article
Li He-xi, Shi Yong-hua, Wang Guo-rong, “Visual Guidance of Welding Robot Using SVR-Jacobian Estimator”, Journal of South China University of Technology(Natural Science Edition), Vol. 41, no. 7, 2013, pp. 19-25
Search in Google Scholar Back to article
Li Erchao, Li Zhanming, Li Wei, “Robotic Fuzzy Adaptive Impedance Control Based on Neural Network Visual Servoing”, Transactions of China Electrotechnical Society, Vol. 26, no. 4, 2011, pp. 40-43
Search in Google Scholar Back to article
XIN Jing, LIU Ding, XU Qing-kun, “LS-SVR-based uncalibrated 4DOF visual positioning of robot”, Control Theory & Applications, Vol. 27, no. 1, 2010, pp. 77-85
Search in Google Scholar Back to article
Xiao,N.F, “Learning-Based Visual and Force Servoing Control of a Robot in an Unknown Environment”, System Engineering and Electronic Technology, Vol. 15, no. 2, 2004, pp. 171-178
Search in Google Scholar Back to article
Tsuji T,Tanaka Y, “On-line learning of robot arm impedance using neural networks”, Robotics and Autonomous Systems, Vol. 52, no. 4, 2005, pp. 257-27110.1016/j.robot.2005.06.005
Search in Google Scholar Back to article
Wim Meeussen, Ernesto Staffetti, Herman Bruyninckx, “Integration of planning and execution in force controlled compliant motion”, Robotics and Autonomous Systems, Vol. 56, no. 5, 2008, pp. 437-45010.1016/j.robot.2007.09.009
Search in Google Scholar Back to article
Qiao Bing, “Intelligent robot active position/force learning control research”, Doctor of Engineering thesis, Nanjing University of Aeronautics & Astronautics, China, July 1999.
Search in Google Scholar Back to article

Robotic Adaptive Impedance Control Based On Visual Guidance

Abstract

Paradigm

My account