中南大学学报（自然科学版）2011，Vol.42Issue(2)：409-413,5.
基于视觉的机器人模糊自适应阻抗控制
Fuzzy adaptive impedance control of robot based on vision
摘要
Abstract
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.关键词
机器人/视觉/阻抗控制/模糊控制分类
信息技术与安全科学引用本文复制引用
李二超,李战明,李炜..基于视觉的机器人模糊自适应阻抗控制[J].中南大学学报（自然科学版）,2011,42(2):409-413,5.基金项目
国家自然科学基金资助项目(60964003,61005026) （60964003,61005026）
甘肃省工业过程先进控制重点实验室基金资助项目(XJK0901) （XJK0901）
