Robotic adaptive impedance control based on visual guidance

doi:10.21307/ijssis-2017-847

	Robotic adaptive impedance control based on visual guidance
	Erchao, Li; Zhanming, Li; Junxue, He
刊名	International Journal on Smart Sensing and Intelligent Systems
	2015
卷号	8 期号:4 页码:2159-2174
关键词	CCD cameras End effectors Robots Vision Visual servoing Gaussian kernels Image jacobian matrix Impedance control Nonlinear mappings Robot impedance control Support vector regression (SVR) Uncalibrated visual servoing Unknown environments
ISSN号	1178-5608
DOI	10.21307/ijssis-2017-847
英文摘要	Uncalibrated visual servoing based on SVR-Jacobian estimator is proposed in unknown environment. Multiple support vector regression (SVR) machines are used to estimate the Jacobian matrix of images and the nonlinear mapping between the image features of the curved line and therobot joint angle is constructed, uncalibrated robot impedance control can be carried out Image Jacobian matrix expression with Gaussian kernel is put forward, the effectiveness of the presented approach is verified by using a 6 DOF robot with a CCD camera and a force/torque sensorinstalled in its end effector.
WOS研究方向	Engineering
语种	英语
出版者	Massey University
WOS记录号	WOS:000369651200014
内容类型	期刊论文
源URL	[http://ir.lut.edu.cn/handle/2XXMBERH/112813]
专题	电气工程与信息工程学院
作者单位	Lanzhou University of Technology, Lanzhou, China
推荐引用方式 GB/T 7714	Erchao, Li,Zhanming, Li,Junxue, He. Robotic adaptive impedance control based on visual guidance[J]. International Journal on Smart Sensing and Intelligent Systems,2015,8(4):2159-2174.
APA	Erchao, Li,Zhanming, Li,&Junxue, He.(2015).Robotic adaptive impedance control based on visual guidance.International Journal on Smart Sensing and Intelligent Systems,8(4),2159-2174.
MLA	Erchao, Li,et al."Robotic adaptive impedance control based on visual guidance".International Journal on Smart Sensing and Intelligent Systems 8.4(2015):2159-2174.