DocumentCode :
2597872
Title :
Uncalibrated image-based position-force adaptive visual servoing for constrained robots under dynamic friction uncertainties
Author :
Dean-León, E.C. ; Garcia-Valdovínos, L.G. ; Parra-Vega, V. ; Espinosa-Romero, A.
Author_Institution :
Mechatronics Div., CINVESTAV-IPN, Mexico, Mexico
fYear :
2005
fDate :
2-6 Aug. 2005
Firstpage :
2983
Lastpage :
2990
Abstract :
Visual servoing of constrained dynamical robots has not yet met a formal treatment. Also, notices that due technological constraints, this task is done slowly at velocity reversals, thus dynamic friction arises, which complicates even more the problem. In this paper, a new adaptive scheme for visual servoing of constrained robots subject to dynamic friction is proposed. An image-based control is introduced to produce simultaneous convergence of the constrained visual position and the contact force between the end-effector and the constraint surface. Camera and robot parameters are considered uncertain. This new approach is based on a new formulation of the orthogonalization principle used in force control, coined here visual orthogonalization principle. This allows, under the framework of passivity, to yield a synergetic scheme that fuses camera, encoder and force sensor signals. Simulation results are presented and show that image errors and force errors converge despite uncertainties of friction model.
Keywords :
adaptive control; end effectors; force control; friction; image motion analysis; position control; robot vision; adaptive force control; constrained dynamical robots; constrained robots; constrained visual position; dynamic friction uncertainty; end-effector; force sensor; image-based control; position-force adaptive visual servoing; sensor fusion; visual orthogonalization principle; Cameras; Force control; Force sensors; Friction; Fuses; Image converters; Robot sensing systems; Robot vision systems; Uncertainty; Visual servoing; Adaptive Force Control; Dynamic Friction; Sensor Fusion; Visual Servoing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
Type :
conf
DOI :
10.1109/IROS.2005.1545273
Filename :
1545273
Link To Document :
بازگشت