INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
artículos
Título:
Tracking adaptive impedance robot control with visual feedback
Autor/es:
VICENTE MUT; OSCAR NASISI; RICARDO CARELLI; ´BENJAMÍN KUCHEN
Revista:
ROBOTICA
Editorial:
Cambridge University Press
Referencias:
Lugar: London; Año: 2000 vol. 18 p. 369 - 374
ISSN:
0263-5747
Resumen:
In this paper we propose a tracking adaptive impedance controller for robots with visual feedback. It is based on a generalizcd 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 arc ultimatcly bounded in the image coordinate system. Simulations are carried out to evaluate the controller performance.this paper we propose a tracking adaptive impedance controller for robots with visual feedback. It is based on a generalizcd 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 arc ultimatcly bounded in the image coordinate system. Simulations are carried out to evaluate the controller performance.
