Hybrid Vision/Force Cascaded Model Predictive Control of Robotic Manipulators for Automatic Docking Tasks

This article presents a hybrid vision/force cascaded model predictive control method for robotic manipulators utilized in automatic docking tasks. This control method consists of force predictive control (FPC) cascaded with visual predictive control (VPC). First, an FPC algorithm with integrated vis...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2025-02, Vol.72 (2), p.1753-1762
Main Authors: Zhang, Xianke, Li, Zhongcan, Zhou, Yufei, Zhu, Mingchao
Format: Article
Language:English
Subjects:
Automatic docking
Cameras
Contact force
Control methods
Control stability
Control theory
Force
force predictive control (FPC)
hybrid vision/force control
Manipulator dynamics
Manipulators
Predictive control
Robot arms
Robot control
Robust control
Safety
Task analysis
Vision
Visual perception driven algorithms
visual predictive control (VPC)
Visual tasks
Visualization
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Description
Summary:This article presents a hybrid vision/force cascaded model predictive control method for robotic manipulators utilized in automatic docking tasks. This control method consists of force predictive control (FPC) cascaded with visual predictive control (VPC). First, an FPC algorithm with integrated visual admittance control is designed to achieve rapid convergence of the contact force at the end of the manipulator. Second, it integrates two modes of perception are vision and force, and hierarchically controls them to enhance the manipulator's high-precision control and perception capabilities during the docking tasks. Third, it incorporates the system's relevant constraints into the control process to ensure the safety and stability of the docking tasks. The static and dynamic docking experiments have been completed on the appropriate physical experimental platform, and the experimental results confirm the effectiveness, accuracy, and robustness of the control algorithm.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2024.3429608