Force-Based Compliance Controller Utilizing Visual Information for Motion Navigation in Haptic Bilateral Control System
Force-Based Compliance Controller Utilizing Visual Information for Motion Navigation in Haptic Bilateral Control System
复制标题
基于力的顺应控制器利用视觉信息在触觉双边控制系统中进行运动导航
DOI：
10.1541/ieejjia.3.227
复制
发表时间：
2014
影响因子：
1.7
通讯作者：
N. Motoi
中科院分区：
文献类型：
--
作者：
M. H. Jamaluddin;T. Shimono;N. Motoi
本文提出了一种基于力的顺应性控制方法，利用视觉信息，可以与触觉系统集成的运动导航任务。利用基于被跟踪物体的有用图像信息产生的力来向双边控制系统提供响应。一个眼睛到手的方法是用来放大来自视觉传感器的信息。详细阐述了系统的控制策略、图像处理方法和集成技术。使用不同的相机和物体之间的距离进行了四个实验，以验证所提出的集成方法。通过与传统的双边控制方法的比较，评估了所提出的方法的有效性。
This paper proposes a force-based compliance control method utilizing visual information that can be integrated with a haptic system for motion navigation tasks. The force generated on the basis of useful image information of the tracked object is utilized to provide a response to the bilateral control system. An eye-to-hand approach is used to magnify the information from the vision sensor. The control strategy, image processing method, and integration techniques are elaborated upon in detail. Four experiments were conducted using different distances between the camera and object to validate the proposed integration method. The effectiveness of the proposed method was evaluated through a comparison with the conventional bilateral control method.