Research In Adaptive Vision And Force Tracking Compliant Control For Robots With Constraint Uncertainty

Robot is a non-linear dynamic system with time-varying and strong coupling,so the control of robot will be affected by uncertainty environmental factors.With the application developing and intelligent requirements of robot,the traditional position control of robot can't meet the application of complex environment,but the research of robot based on visual and force sense is meaning more important to improve the flexibility,reliability and intelligence of robot system.Therefore,it's important to study the adaptive and compliant control system based on vision and force sensing working on uncertainty and unknown environment.This paper using Eye-to-Hand single visual servo with force sensor on robot arm,research and discussion the adaptive control of Visual/Force under complex constraint condition,such as unknown stiffness and uncertain factors of environment.Firstly,Analyzing the motion of end of robot and the theoretical analysis of hybrid control,model the hybrid control system based on visual and force.Secondly,basing on force control of the impedance force position control,designed impedance force controller and derived the force error equation of steady-state.Implement the vision servo control by PID position control technology.Then,aiming at the deficiency of classical adaptability controlling on unknown constraint environment,design the adaptive impedance controller by Lyapunov stability theorem.Derived the control rule and parameters of adjustment,achieve the adaptively force control under unknown environment parameters,using to improve the adaptive performance of robot system.Finally,experiment the relevant experiments on the hybrid control theory,and verify the correctness of theoretical analysis through the experimental analysis.