Volume 10 Number 4
August 2013
Article Contents
Juan Zhang, De Xu, Zheng-Tao Zhang and Wen-Sheng Zhang. Position/Force Hybrid Control System for High Precision Aligning of Small Gripper to Ring Object. International Journal of Automation and Computing, vol. 10, no. 4, pp. 360-367, 2013. doi: 10.1007/s11633-013-0732-y
Cite as: Juan Zhang, De Xu, Zheng-Tao Zhang and Wen-Sheng Zhang. Position/Force Hybrid Control System for High Precision Aligning of Small Gripper to Ring Object. International Journal of Automation and Computing, vol. 10, no. 4, pp. 360-367, 2013. doi: 10.1007/s11633-013-0732-y

Position/Force Hybrid Control System for High Precision Aligning of Small Gripper to Ring Object

Author Biography:
  • Corresponding author: Juan Zhang
  • Received: 2012-07-13
Fund Project:

This work was supported by National Natural Science Foundation of China (No. 61105036 and 61227804).

通讯作者: 陈斌, bchen63@163.com
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    沈阳化工大学材料科学与工程学院 沈阳 110142

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Position/Force Hybrid Control System for High Precision Aligning of Small Gripper to Ring Object

    Corresponding author: Juan Zhang
Fund Project:

This work was supported by National Natural Science Foundation of China (No. 61105036 and 61227804).

Abstract: A position/force hybrid control system based on impedance control scheme is designed to align a small gripper to a special ring object. The vision information provided by microscope vision system is used as the feedback to indicate the position relationship between the gripper and the ring object. Multiple image features of the gripper and the ring object are extracted to estimate the relative positions between them. The end-effector of the gripper is tracked using the extracted features to keep the gripper moving in the field of view. The force information from the force sensor serves as the feedback to ensure that the contact force between the gripper and the ring object is limited in a small safe range. Experimental results verify the effectiveness of the proposed control strategy.

Juan Zhang, De Xu, Zheng-Tao Zhang and Wen-Sheng Zhang. Position/Force Hybrid Control System for High Precision Aligning of Small Gripper to Ring Object. International Journal of Automation and Computing, vol. 10, no. 4, pp. 360-367, 2013. doi: 10.1007/s11633-013-0732-y
Citation: Juan Zhang, De Xu, Zheng-Tao Zhang and Wen-Sheng Zhang. Position/Force Hybrid Control System for High Precision Aligning of Small Gripper to Ring Object. International Journal of Automation and Computing, vol. 10, no. 4, pp. 360-367, 2013. doi: 10.1007/s11633-013-0732-y
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