Sensor dependent task definition: Object manipulation by fingers with uncalibrated vision
Sensor dependent task definition: Object manipulation by fingers with uncalibrated vision
复制标题
传感器相关任务定义：用未校准视觉的手指操作物体
DOI：
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复制
发表时间：
2000
期刊：
影响因子：
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通讯作者：
M. Asada
中科院分区：
文献类型：
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作者：
K. Hosoda;T. Hisano;M. Asada
抽象。提出了一种基于传感器相关任务定义的机器人手控制方法。为了实现一个强大的和快速的响应，而无需精确的校准，自适应视觉伺服应用。另一方面，内力控制也必须应用于保持抓握。利用虚功原理对这些控制器进行集成，消除干扰。实验结果证明了该方法的有效性。
Abstract. In this paper, a method is proposed to control a robot hand with uncalibrated camera based on sensor dependent task definition. To achieve a robust and quick response without precise calibration, adaptive visual servoing is applied. On the other hand, internal force control also has to be applied to maintain grasping. To integrate these controllers, we utilize the principle of virtual work, and eliminate the interference. Experimental results are shown to demonstrate the validity of the proposed method.