High-precision Servo Control of Robot Arm Based on Vision and PSD

被引：0
|
作者：
Lu Jun [1 ]
Song Jinghao [1 ]
Liu Yong [2 ]
机构：
[1] Harbin Engn Univ, Coll Automat, Harbin 150001, Peoples R China
[2] Nanjing Univ Sci & Technol, Nanjing 210094, Jiangsu, Peoples R China
来源：
2013 32ND CHINESE CONTROL CONFERENCE (CCC) | 2013年
关键词：
visual servoing; camera calibration; robot; PSD;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The high-precision control for the IRB1600 robot of ABB company is implemented based on vision and PSD servo control. First, a wide range and coarse-precision control for the robot is made based on visual servoing control method, and the camera intrinsic parameter matrix can be acquired via the method of camera self-calibration based on absolute conic, and the extraction of visual features can be achieved through the region-growing algorithm. The joint controllers of robot are designed by using the method of nonlinear feedback linearization. The usage of PSD servo control completes the high-precision control for robot. For the signal characteristics of PSD, the speed-controllers for the PSD saturation phrase and the controllers for the PSD linearity phase are designed. The validity of the aforementioned methods can be verified by the experimental results while applying these methods to IRB1600 robot.
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收藏
页码：5650 / 5655
页数：6
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