Dynamic compensation by fusing a high-speed actuator and high-speed visual feedback with its application to fast peg-and-hole alignment
Dynamic compensation by fusing a high-speed actuator and high-speed visual feedback with its application to fast peg-and-hole alignment
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DOI：
10.1080/01691864.2014.884934
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发表时间：
2014-05-03
影响因子：
2
通讯作者：
Ishikawa, Masatoshi
中科院分区：
文献类型：
--
作者：
Huang, Shouren;Yamakawa, Yuji;Ishikawa, Masatoshi
本文提出了一种动态补偿的概念，以解决传统机械臂的动态缺陷，特别是在执行高速终点调节时。提出的高速动态补偿概念为与传统机械手合作实现高度灵巧的操作性能提供了新的视角。这一概念是通过采用高速轻量化执行器以及终端闭环配置的高速摄像头来实现的。对机械臂在单自由度情况下采用1000 Hz视觉反馈和高速手指的动态补偿进行了实验分析。该方法的优点是不需要对机器人系统的动力学建模，而用传统的方法实现高速调节是必要的和琐碎的。因此，使用所提出的方法，控制问题变得更容易。作为这一概念的一个应用，研究了位置和姿态不确定性较大的快速轴孔对准问题。该对齐算法基于视觉顺应性策略。对准实验表明，采用动态补偿和视觉柔顺运动控制的概念，在大多数情况下都实现了稳健和快速的收敛。
This paper presents a dynamic compensation concept to grapple with the dynamic defects of a traditional robot arm, especially while performing high-speed endpoint regulations. The proposed high-speed dynamic compensation concept offers a new point of view for cooperating with a traditional manipulator to realize highly dexterous performance of manipulations. The concept is realized through adoption of a high-speed light-weight actuator as well as endpoint closed loop configured high-speed cameras. The dynamic compensation is analyzed experimentally with 1000Hz visual feedback and a high-speed finger for a robot arm in the case of one degree of freedom. The advantage of the proposed approach is that the modeling for the robot system's dynamics is not needed, whereas it is necessary and trivial in order to realize high-speed regulations by traditional approaches. Thus, the control issue becomes easier with the proposed approach. As an application for this concept, fast peg-and-hole alignment with large position and attitude uncertainty is studied. The alignment algorithm is based on a visual compliance strategy. Alignment experiments show that with the proposed concept of dynamic compensation as well as visual compliant motion control, robust and fast convergence was realized for most cases.