Learning-based force servoing control of a robot with vision in an unknown environment  

作　　者：XiaoNanfeng 

机构地区：[1]SchoolofComputerScienceandEngineering,SouthChinaUniversityofTechnology,Guangzhou510641,P.R.China

出　　处：《Journal of Systems Engineering and Electronics》2004年第2期171-178,共8页系统工程与电子技术（英文版）

基　　金：This project was supported by the research foundation of China Education Ministry for the scholars from abroad (2002247).

摘　　要：A learning-based control approach is presented for force servoing of a robot with vision in an unknown environment. Firstly, mapping relationships between image features of the servoing object and the joint angles of the robot are derived and learned by a neural network. Secondly, a learning controller based on the neural network is designed for the robot to trace the object. Thirdly, a discrete time impedance control law is obtained for the force servoing of the robot, the on-line learning algorithms for three neural networks are developed to adjust the impedance parameters of the robot in the unknown environment. Lastly, wiping experiments are carried out by using a 6 DOF industrial robot with a CCD camera and a force/torque sensor in its end effector, and the experimental results confirm the effecti veness of the approach.A learning-based control approach is presented for force servoing of a robot with vision in an unknown environment. Firstly, mapping relationships between image features of the servoing object and the joint angles of the robot are derived and learned by a neural network. Secondly, a learning controller based on the neural network is designed for the robot to trace the object. Thirdly, a discrete time impedance control law is obtained for the force servoing of the robot, the on-line learning algorithms for three neural networks are developed to adjust the impedance parameters of the robot in the unknown environment. Lastly, wiping experiments are carried out by using a 6 DOF industrial robot with a CCD camera and a force/torque sensor in its end effector, and the experimental results confirm the effecti veness of the approach.

关 键 词：ROBOTICS force servoing vision control learning algorithm neural network. 

分 类 号：TP242.62[自动化与计算机技术—检测技术与自动化装置]