An Application of Visual and Force Servos for Part Alignment
| Autor: | Yao Ke-Chang, 姚克昌 |
|---|---|
| Rok vydání: | 1998 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 86 For object manipulation, fast, stable contact transitions can be more easilyrealized with manipulators servoed under both vision and force control, rather than force control alone. Because vision provides cues to force sensor. However, owing to sensitivities and uncertainties of robot system, there may have a transition period that none of the sensors can provide reliable information while switching between two different sensing modalities. In this study, a visual/force servo control which modifies theforce control with vision information is proposed and provides an effectivecontrol during the transition period. To test the performance of the proposedstrategy, the relative position and orientation error calibration has been carried out. The experiment results show that the relative position and orientation error could be adjusted by the modified visual/force servo control. Also, faster approach speed and lower impact force are made during the transition period. Besides, proper control mode switching criteria for task completion are suggested and tested. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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