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

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. M...

Full description

Saved in:
Bibliographic Details
Published in:International journal of automation and computing 2013-08, Vol.10 (4), p.360-367
Main Authors: Zhang, Juan, Xu, De, Zhang, Zheng-Tao, Zhang, Wen-Sheng
Format: Article
Language:English
Subjects:
Alignment
Automation
CAE) and Design
Computer Applications
Computer-Aided Engineering (CAD
Contact force
Control
Control systems
Control theory
Engineering
Feedback
Grippers
Hybrid control
Mechatronics
Robotics
位置关系
图像特征提取
夹持器
对准
戒指
混合控制系统
视觉信息
高精度
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary: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.
ISSN:1476-8186
1751-8520
DOI:10.1007/s11633-013-0732-y