基于视觉和力反馈的机器人研抛联合控制分析

Analysis on Lapping and Polishing Joint Control of Robot Based on Vision and Force Feedback

利用视觉传感器和力传感器融合技术对机械手研抛进行联合控制分析。研究过程中,通过视觉传感器引导,确定加工点和加工轨迹,再与力控制相结合达到加工目的,即是视觉伺服与力混合控制。在混合控制模型中,本实验采用基于图像的视觉伺服与力反馈融合的控制算法解决视觉与力之间的协调问题。

This paper,with the fusion technology of vision sensor and force sensor,makes a joint control analysis on manipulator lapping and polishing,which determines the manufacturing point and machining path by the visual sensor guidance,and then achieves the processing purpose by combining with force control,that is,a mixed control of visual servo with force. In the hybrid control model,the control algorithm based on vision servo and force feedback is applied to solve the problem of the coordination between vision and force.