Hybrid Tracking Control of a Robot Manipulator on 3-D Unknown Surface Employing Intelligent Sensor Fusion

• Main Authors: Chung-Jwu Chen, 陳崇儒
• Other Authors: 張文中
• Format: Others
• Language: zh-TW
• Published: 2006
• Online Access: http://ndltd.ncl.edu.tw/handle/rk89rt

碩士 === 國立臺北科技大學 === 電機工程系所 === 94 === Hybrid force and vision-based control would typically require an expensive six-axis force sensor in addition to a vision sensor. In this research, a low-cost single-axis force sensor together with a CCD camera and a laser pointer allow effective pose control of a manipulator on an unknown 3D surface. This paper presents a seemingly novel approach to autonomously control the pose of a robotic manipulator with respect to an unknown 3-D surface. Two visual servoing architectures have been proposed, one eye-to-hand and the other eye-in-hand. Our approach has been successfully validated on arbitrary 3D surfaces by performing experiments with a Mitsubishi RV-1A industrial robot. In particular, the end-effector can be driven to a set-point or a target trajectory on the surface and kept normal to the surface. A low-cost single-axis force sensor together with a CCD camera and a laser pointer are required to perform such control tasks. Compared with existing approaches, the proposed system is not only effective but also less expensive.