Artículo
Tracking adaptive impedance robot control with visual feedback
Mut, Vicente Antonio
; Nasisi, Oscar Herminio; Carelli Albarracin, Ricardo Oscar
; Kuchen, Benjamin Rafael
Fecha de publicación:
12/2000
Editorial:
Cambridge University Press
Revista:
Robotica
ISSN:
0263-5747
Idioma:
Inglés
Tipo de recurso:
Artículo publicado
Clasificación temática:
Resumen
In this paper 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 non-linear robot dynamics. Robot parameters adjustment is introduced to reduce the sensibility 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.
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Citación
Mut, Vicente Antonio; Nasisi, Oscar Herminio; Carelli Albarracin, Ricardo Oscar; Kuchen, Benjamin Rafael; Tracking adaptive impedance robot control with visual feedback
; Cambridge University Press; Robotica; 18; 4; 12-2000; 369-374
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