Model-Free Visually Servoed Deformation Control of Elastic Objects by Robot Manipulators
Publication in refereed journal


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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 to its implementation comes from the difficulty to identify or estimate the object's deformation model. In this paper, we propose a novel vision-based deformation controller for robot manipulators interacting with unknown elastic objects. We derive a new dynamic-state feedback velocity control law using the passivity-based framework. Our method exploits visual feedback to estimate the deformation Jacobian matrix in real time, avoiding any model identification steps. We prove that even in the presence of inexact estimations, the closed-loop dynamical system ensures input-to-state stability (i.e., full dissipativity) with respect to external disturbances. An experimental study with several deformation tasks is presented to validate the theory.
著者Navarro-Alarcon D, Liu YH, Romero JG
期刊名稱IEEE Transactions on Robotics
出版年份2013
月份12
日期1
卷號29
期次6
出版社IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
頁次1457 - 1468
國際標準期刊號1552-3098
電子國際標準期刊號1941-0468
語言英式英語
關鍵詞Contact modeling; deformable models; dexterous manipulation; shape control; visual servoing
Web of Science 學科類別Robotics; ROBOTICS

上次更新時間 2021-16-05 於 01:46