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首页> 外文期刊>Procedia Computer Science >Visual Based Control Scheme for a Robotic Manipulator with Duality of Task-space Information and Friction Compensation
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Visual Based Control Scheme for a Robotic Manipulator with Duality of Task-space Information and Friction Compensation

机译:具有任务空间信息和摩擦补偿双重性的机器人操纵器的基于视觉的控制方案

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摘要

This paper presents a new control technique for a robot manipulator with dual task-space information and friction compensation. The control scheme allows the end effector to transit smoothly from Cartesian-space feedback to vision-space feedback when the target is inside the vicinity of the camera. An adaptive term is integrated into the proposed controller to compensate the uncertainty associated with parameters in the friction model, including the Stribeck effect. A Lyapunov-like function is presented for stability analysis of the proposed control law. Numerical simulations are presented to demonstrate the performance of the proposed control law for robot manipulator.
机译:本文提出了一种具有双重任务空间信息和摩擦补偿的机器人操纵器新控制技术。当目标在摄像机附近时,该控制方案允许末端执行器从笛卡尔空间反馈平稳过渡到视觉空间反馈。将自适应项集成到建议的控制器中,以补偿与摩擦模型中的参数(包括斯特里贝克效应)相关的不确定性。提出了一个类似于Lyapunov的函数,用于对所提出的控制律进行稳定性分析。数值模拟表明了所提出的机器人机械手控制律的性能。

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