Control of Contact Force during Trajectory Tracking via Machine Vision and Force Measurement

• Main Authors: cheng-ying Liu, 劉承盈
• Other Authors: Liang-kuang Chen
• Format: Others
• Language: zh-TW
• Published: 2014
• Online Access: http://ndltd.ncl.edu.tw/handle/78301095729934341279

碩士 === 國立臺灣科技大學 === 機械工程系 === 102 === This paper proposed a controller combined vision with the force measured from environment to tracking the desire path and maintain the desire force in the same time. The information of environment is partly known. We using KINECT to defined the desire path. And the hand-eye calibration is made by the iterative least-square method. On the other hand, the force sensor provides the contact force for the position based impedance controller. We using the position based impedance controller to revise the motion command to avoid the damage of the object and keep the contact. The task is divided into two parts. Part1 is the visual servoing for approaching the target. Part2 is controlled by the controller combing vision with the force measured from environment for contact task. The experiment result which was implemented by a three dimension Cartesian robot shows that this controller can achieve the task in the limited path.