摘要
在实际的接触型作业任务中,需要在控制位置的同时控制末端执行器与环境之间的接触力.针对这一问题,通过力反馈信息对未知环境中的法线方向进行估计,并采用最小二乘方法估计图像雅可比矩阵.提出一种基于视觉/力觉的混合控制算法,给出了视觉/力觉混合控制的约束条件,对视觉采用变结构控制器,力控制采用PI控制器.实验结果表明,该策略具有较高的力控制精度和曲线跟踪能力.
In the real world,the contact operation tasks need to implement the contact force control at the same time with the implementation of the position control. Therefore,a hybrid control scheme based on vision and force is proposed. First,a method to estimate the normal vector of the unknown constraint surface is introduced. On-line force feedback data are employed to estimate the local shape of constraint. Then,the image Jacobian is estimated by using the recursive least squares algorithm. Finally,an adaptive hybrid visual servoing/force controller is proposed. The direction of the force control becomes perpendicular to the visual servoing control. Variable structure controller is applied to visual servoing and PI controller is applied to force control. Experimental results show the effectiveness of the proposed scheme.
出处
《控制与决策》
EI
CSCD
北大核心
2010年第3期430-432,436,共4页
Control and Decision
基金
国家自然科学基金项目(30670529)
兰州理工大学电气与控制学科团队基金项目
关键词
视觉伺服
力控制
变结构控制
未知环境
Visual servoing
Force control
Variable structure control
Unknown environment
