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Machine Intelligence Research

Erschienen in:

01.08.2013

Position/Force Hybrid Control System for High Precision Aligning of Small Gripper to Ring Object

verfasst von: Juan Zhang, De Xu, Zheng-Tao Zhang, Wen-Sheng Zhang

Erschienen in: Machine Intelligence Research | Ausgabe 4/2013

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Abstract

A position/force hybrid control system based on impedance control scheme is designed to align a small gripper to a special ring object. The vision information provided by microscope vision system is used as the feedback to indicate the position relationship between the gripper and the ring object. Multiple image features of the gripper and the ring object are extracted to estimate the relative positions between them. The end-effector of the gripper is tracked using the extracted features to keep the gripper moving in the field of view. The force information from the force sensor serves as the feedback to ensure that the contact force between the gripper and the ring object is limited in a small safe range. Experimental results verify the effectiveness of the proposed control strategy.

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Titel: Position/Force Hybrid Control System for High Precision Aligning of Small Gripper to Ring Object
verfasst von: Juan Zhang
De Xu
Zheng-Tao Zhang
Wen-Sheng Zhang
Publikationsdatum: 01.08.2013
Verlag: Springer-Verlag
Erschienen in: Machine Intelligence Research / Ausgabe 4/2013
Print ISSN: 2731-538X
Elektronische ISSN: 2731-5398
DOI: https://doi.org/10.1007/s11633-013-0732-y

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