Position/Force Hybrid Control System for High Precision Aligning of Small Gripper to Ring Object  

作　　者：Juan Zhang De Xu Zheng-Tao Zhang Wen-Sheng Zhang 

机构地区：[1]Research Center of Precision Sensing and Control, Institute of Automation, Chinese Academy of Sciences

出　　处：《International Journal of Automation and computing》2013年第4期360-367,共8页国际自动化与计算杂志（英文版）

基　　金：supported by National Natural Science Foundation of China(No.61105036 and 61227804)

摘　　要：A position/force hybrid control system based on impedance control scheme is designed to align a small gripper to a special ring object. The vision information provided by microscope vision system is used as the feedback to indicate the position relationship between the gripper and the ring object. Multiple image features of the gripper and the ring object are extracted to estimate the relative positions between them. The end-effector of the gripper is tracked using the extracted features to keep the gripper moving in the field of view. The force information from the force sensor serves as the feedback to ensure that the contact force between the gripper and the ring object is limited in a small safe range. Experimental results verify the effectiveness of the proposed control strategy.A position/force hybrid control system based on impedance control scheme is designed to align a small gripper to a special ring object. The vision information provided by microscope vision system is used as the feedback to indicate the position relationship between the gripper and the ring object. Multiple image features of the gripper and the ring object are extracted to estimate the relative positions between them. The end-effector of the gripper is tracked using the extracted features to keep the gripper moving in the field of view. The force information from the force sensor serves as the feedback to ensure that the contact force between the gripper and the ring object is limited in a small safe range. Experimental results verify the effectiveness of the proposed control strategy.

关 键 词：Feature extraction position/force hybrid control movement control microscope vision micro-assembly. 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP391.41[自动化与计算机技术—控制科学与工程]