Vision-Based Compliance Motion Control of Robots
碩士 === 國立臺北科技大學 === 電機工程系所 === 98 === This thesis presents vision-based compliance control of robots including two dual-arm mobile robots and an industrial manipulator. Two approaches have been accomplished for compliance motion control. One is for object grasping task by two cooperative mobile robo...
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| Format: | Others |
| Language: | en_US |
| Published: |
2010
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| Online Access: | http://ndltd.ncl.edu.tw/handle/458a77 |
| Summary: | 碩士 === 國立臺北科技大學 === 電機工程系所 === 98 === This thesis presents vision-based compliance control of robots including two dual-arm mobile robots and an industrial manipulator. Two approaches have been accomplished for compliance motion control. One is for object grasping task by two cooperative mobile robots both equipped with dual arms. The two mobile robots, master and slave, are controlled under an visual intelligent space with compliance motion of the arms for cooperatively moving an object to a target. A compliance control strategy without any force sensor is proposed for the arms of the slave robot to react against impact during the task. The other approach is for an industrial 6-DOF manipulator. The manipulator is equipped with a 6-axis force sensor. A vision-based compliance control law with force sensing is proposed. The tasks of interacting with unknown surfaces have been experimented for verifying the effectiveness of the proposed controller. Both approaches have been
successfully validated by experiments. In particular, two Dr Robot i90 mobile robots have been used for implementing cooperative object grasping and a Mitsubishi RV-1A manipulator has been utilized for performing compliance motion control.
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