Parallel Vision/Force Interactive Control of Parallel Robots with Uncertainty Compensation
- Resource Type
- Conference
- Authors
- Zhu, Minglei; Huang, Cong; Qi, Jun; Du, Yaning; Xie, Min
- Source
- 2023 6th International Conference on Intelligent Robotics and Control Engineering (IRCE) Intelligent Robotics and Control Engineering (IRCE), 2023 6th International Conference on. :79-85 Aug, 2023
- Subject
- Robotics and Control Systems
Parallel robots
Visualization
Uncertainty
Force
Pose estimation
Aerospace electronics
Robot sensing systems
Vision/force interactive control
image-based visual servoing
parallel control
parallel robots
- Language
- ISSN
- 2770-4815
This paper develops a novel force control method-ology: parallel vision/force interactive control, and applies it to the control of parallel robots. This control methodology is an advanced vision-based computed torque control that directly controls position and force in the image feature space. The creativity of this approach is the pose estimation of a parallel robot with visual information and coupling force feedback and vision information in parallel. A Gough-Stewart platform is taken into account to validate this approach.