Parallel Image-Based Visual Servoing/Force Control of a Collaborative Delta Robot

In this paper, a parallel Image-based visual servoing/force controller is developed in order to solve the interaction problem between the collaborative robot and the environment so that the robot can track the position trajectory and the desired force at the same time. This control methodology is ba...

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Detalles Bibliográficos
Autores principales: Zhu, Minglei, Huang, Cong, Qiu, Zhiqiang, Zheng, Wei, Gong, Dawei
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2022
Materias:
Neuroscience
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9198459/
https://www.ncbi.nlm.nih.gov/pubmed/35721276
http://dx.doi.org/10.3389/fnbot.2022.922704
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author Zhu, Minglei
Huang, Cong
Qiu, Zhiqiang
Zheng, Wei
Gong, Dawei
author_facet Zhu, Minglei
Huang, Cong
Qiu, Zhiqiang
Zheng, Wei
Gong, Dawei
author_sort Zhu, Minglei
collection PubMed
description In this paper, a parallel Image-based visual servoing/force controller is developed in order to solve the interaction problem between the collaborative robot and the environment so that the robot can track the position trajectory and the desired force at the same time. This control methodology is based on the image-based visual servoing (IBVS) dynamic computed torque control and couples the force control feedback in parallel. Simulations are performed on a collaborative Delta robot and two types of image features are tested to determine which one is better for this parallel IBVS/force controller. The results show the efficiency of this controller.
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spelling pubmed-91984592022-06-16 Parallel Image-Based Visual Servoing/Force Control of a Collaborative Delta Robot Zhu, Minglei Huang, Cong Qiu, Zhiqiang Zheng, Wei Gong, Dawei Front Neurorobot Neuroscience In this paper, a parallel Image-based visual servoing/force controller is developed in order to solve the interaction problem between the collaborative robot and the environment so that the robot can track the position trajectory and the desired force at the same time. This control methodology is based on the image-based visual servoing (IBVS) dynamic computed torque control and couples the force control feedback in parallel. Simulations are performed on a collaborative Delta robot and two types of image features are tested to determine which one is better for this parallel IBVS/force controller. The results show the efficiency of this controller. Frontiers Media S.A. 2022-06-01 /pmc/articles/PMC9198459/ /pubmed/35721276 http://dx.doi.org/10.3389/fnbot.2022.922704 Text en Copyright © 2022 Zhu, Huang, Qiu, Zheng and Gong. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Neuroscience
Zhu, Minglei
Huang, Cong
Qiu, Zhiqiang
Zheng, Wei
Gong, Dawei
Parallel Image-Based Visual Servoing/Force Control of a Collaborative Delta Robot
title Parallel Image-Based Visual Servoing/Force Control of a Collaborative Delta Robot
title_full Parallel Image-Based Visual Servoing/Force Control of a Collaborative Delta Robot
title_fullStr Parallel Image-Based Visual Servoing/Force Control of a Collaborative Delta Robot
title_full_unstemmed Parallel Image-Based Visual Servoing/Force Control of a Collaborative Delta Robot
title_short Parallel Image-Based Visual Servoing/Force Control of a Collaborative Delta Robot
title_sort parallel image-based visual servoing/force control of a collaborative delta robot
topic Neuroscience
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9198459/
https://www.ncbi.nlm.nih.gov/pubmed/35721276
http://dx.doi.org/10.3389/fnbot.2022.922704
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