Visually Servoed Deformation Control by Robot Manipulators
Refereed conference paper presented and published in conference proceedings


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摘要Despite the recent progress in physically interactive and surgical robotics, the active deformation of compliant objects remains an open problem. The main obstacle comes from the difficulty to identify/estimate the object's deformation properties. This paper presents a new visually servoed deformation controller for unknown elastic objects. The control law is designed using the passivity-based framework. The proposed method exploits visual feedback to iteratively estimate the deformation Jacobian matrix, avoiding any identification steps. We prove that even in the presence of inexact estimations, the controller ensures input-to-state stability (i.e. dissipativity) with respect to time-varying disturbances. Finally, an experimental study with several deformation tasks is presented to validate the theory.
著者Navarro-Alarcon D, Liu YH, Romero JG, Li P
會議名稱IEEE International Conference on Robotics and Automation (ICRA)
會議開始日06.05.2013
會議完結日10.05.2013
會議地點Karlsruhe
會議國家/地區德國
出版年份2013
月份1
日期1
出版社IEEE
頁次5259 - 5264
國際標準書號978-1-4673-5643-5
電子國際標準書號978-1-4673-5641-1
國際標準期刊號1050-4729
語言英式英語
Web of Science 學科類別Automation & Control Systems; Engineering; Engineering, Electrical & Electronic; Robotics

上次更新時間 2021-26-02 於 00:22