Human inspired task-space setpoint control of robot manipulator: see only when necessary

摘要：

Behaviors in human reaching movement suggest that certain visually guided tasks consist of an initial movement without visual feedback, and a ne movement with visual feedback when our hand is near the target. Inspired by this phenomenon, we propose a new setpoint controller that only requires vision feedback when the end effector is near a desired position. The proposed controller consists of a Cartesian-space region reaching controller that is activated at the initial stages and a vision based controller that is only activated when the end effector is near the desired position. We introduce a new potential energy function such that its geometrical center is not necessary the desired position. We shall show that the proposed task-space controller can transit smoothly from Cartesianspace feedback to vision-space feedback. Simulation results are presented to illustrate the performance of this setpoint controller.

作者: C.C. Cheah X. Li

作者单位: School of Electrical and Electronic Engineering Nanyang Technological University Block S1,Nanyang Avenue,S(639798) Republic of Singapore

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 486-491

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）