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Position/Force Hybrid Control System for High Precision Aligning of Small Gripper to Ring Object
Juan Zhang; De Xu; Zheng-Tao Zhang; Wen-Sheng Zhang
Source PublicationInternational Journal of Automation and Computing
2013-08
Volume10Issue:4Pages:360-367
Abstract
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.
KeywordFeature Extraction Position/force Hybrid Control Movement Control Microscope Vision Micro-assembly
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/15418
Collection精密感知与控制研究中心_精密感知与控制
AffiliationResearch Center of Precision Sensing and Control, Institute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Juan Zhang,De Xu,Zheng-Tao Zhang,et al. Position/Force Hybrid Control System for High Precision Aligning of Small Gripper to Ring Object[J]. International Journal of Automation and Computing,2013,10(4):360-367.
APA Juan Zhang,De Xu,Zheng-Tao Zhang,&Wen-Sheng Zhang.(2013).Position/Force Hybrid Control System for High Precision Aligning of Small Gripper to Ring Object.International Journal of Automation and Computing,10(4),360-367.
MLA Juan Zhang,et al."Position/Force Hybrid Control System for High Precision Aligning of Small Gripper to Ring Object".International Journal of Automation and Computing 10.4(2013):360-367.
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