Research Of Robot Servo Control Based On Force And Vision

One important way to increase the flexibility and improve the reliability ofindustrial robotic manipulator in manipulation tasks is to use vision/force servo control.It is one of the research areas on robotics.In this thesis, a control algorithm and its applications based on a hybrid force/visionare presented, the hybrid method of combining force control and visual servo in thepresence of unknown planar surfaces is presented. The binocular eye-to-hand stereovision and monocular eye-in-hand are employed to form multi-camera visual servoconfiguration. And sensor fusion is conducted with the force sensor attached on theend-effector. The desired target is to search and track the target object and to conductthe specific task. All the results will be the technical foundation for the roboticpolishing and deburing.In the real world, the contact operation tasks need to implement the contact forcecontrol at the same time implementation of the position control. In order to solve thisproblem, a hybrid control scheme based on vision and force is proposed. The binocularEye-to-Hand visual servo technique is employed to get the velocity of manipulator inthe X-and Y-axis direction, and the velocity of manipulator in the Z-axis direction isobtained by force control and plane constrained visual servo. The simulationexperiments verify the effectiveness of the proposed method.The simulation is conducted using the MATLAB Robotics ToolBox. The line andcircle trajectory tracking on uncertain surface are performed. The contact forcebetween the end-efffector and environment is keeping constant at the same time oftrajectory tracking. The simulation results show the validity of the proposed method.Finally, this thesis summarizes the research work, and points out the future work inwhich needs to be improved and progressed, and indicates its future research contentand the direction of development.