Position/Force Hybrid Control System for High Precision Aligning of Small Gripper to Ring Object.
Juan ZhangDe XuZheng-Tao ZhangWen-Sheng ZhangPublished in: Int. J. Autom. Comput. (2013)
Keyphrases
- high precision
- position control
- control system
- robotic manipulator
- position and orientation
- high recall
- end effector
- control scheme
- high reliability
- closed loop
- dc motor
- image planes
- degrees of freedom
- object position
- control strategies
- pid controller
- fuzzy logic
- achieve high precision
- robot arm
- visual servoing
- control law
- real time
- control algorithm
- object model
- computer vision
- moving objects
- d objects
- inverse kinematics
- control strategy
- pose estimation
- complex objects
- image registration
- initial position
- vision sensor
- virtual environment
- contact force
- fuzzy control
- multiple objects
- real environment
- control architecture
- target object