Tracking adaptive impedance robot control with visual feedback

We propose a tracking adaptive impedance controller for robots with visual feedback. It is based on a generalized impedance concept where the sensed distance is introduced as a fictitious force to the control in order to avoid obstacles in restricted motion tasks. The controller is designed to compe...

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Bibliographic Details
Main Authors: Mut, V., Nasisi, O., Carelli, R., Kuchen, B.
Format: Conference Proceeding
Language:English
Subjects:
Adaptive control
Feedback
Force control
Impedance
Motion control
Nonlinear dynamical systems
Programmable control
Robot control
Robot kinematics
Robot sensing systems
Online Access:Request full text
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Description
Summary:We propose a tracking adaptive impedance controller for robots with visual feedback. It is based on a generalized impedance concept where the sensed distance is introduced as a fictitious force to the control in order to avoid obstacles in restricted motion tasks. The controller is designed to compensate for full nonlinear robot dynamics. Robot parameters adjustment is introduced to reduce the sensuality of the controller design to dynamic uncertainties of the robot and the manipulated load. It is proved that the vision control errors are ultimately bounded in the image coordinate system. Simulations are carried out to evaluate the controller performance.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.1998.680609