Hand-eye servo and flexible control of an anthropomorphic arm

Gan Ma; Qiang Huang; Zhangguo Yu; Xuechao Chen; Libo Meng; Malik Saad Sultan; Wen Zhang; Yan Liu

doi:10.1109/ROBIO.2013.6739667

Hand-eye servo and flexible control of an anthropomorphic arm

Gan Ma, Qiang Huang, Zhangguo Yu, Xuechao Chen, Libo Meng, Malik Saad Sultan, Wen Zhang, Yan Liu

School of Mechatronical Engineering

Research output: Contribution to conference › Paper › peer-review

4 Citations (Scopus)

Abstract

One key technology for a humanoid robot is to sense the environment accurately and control the movement of the robot in realtime. This paper addresses this problem and focuses on the visual servoing control of an anthropomorphic robotic arm. A high precision, image-based visual servo algorithm for an eye-in-hand visual system is proposed to control the movement of the anthropomorphic arm. The control objective of the controller is to lock all the feature points at fixed points on the image plane. Then, impedance control law is implemented to keep the flexible of the arm. Finally, the effectiveness of the proposed methods are verified by experiments on our humanoid robotic arm platform.

Original language	English
Pages	1432-1437
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2013.6739667
Publication status	Published - 2013
Event	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 - Shenzhen, China Duration: 12 Dec 2013 → 14 Dec 2013

Conference

Conference	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
Country/Territory	China
City	Shenzhen
Period	12/12/13 → 14/12/13

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10.1109/ROBIO.2013.6739667

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title = "Hand-eye servo and flexible control of an anthropomorphic arm",

abstract = "One key technology for a humanoid robot is to sense the environment accurately and control the movement of the robot in realtime. This paper addresses this problem and focuses on the visual servoing control of an anthropomorphic robotic arm. A high precision, image-based visual servo algorithm for an eye-in-hand visual system is proposed to control the movement of the anthropomorphic arm. The control objective of the controller is to lock all the feature points at fixed points on the image plane. Then, impedance control law is implemented to keep the flexible of the arm. Finally, the effectiveness of the proposed methods are verified by experiments on our humanoid robotic arm platform.",

author = "Gan Ma and Qiang Huang and Zhangguo Yu and Xuechao Chen and Libo Meng and Sultan, {Malik Saad} and Wen Zhang and Yan Liu",

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AU - Ma, Gan

AU - Huang, Qiang

AU - Yu, Zhangguo

AU - Chen, Xuechao

AU - Meng, Libo

AU - Sultan, Malik Saad

AU - Zhang, Wen

AU - Liu, Yan

PY - 2013

Y1 - 2013

N2 - One key technology for a humanoid robot is to sense the environment accurately and control the movement of the robot in realtime. This paper addresses this problem and focuses on the visual servoing control of an anthropomorphic robotic arm. A high precision, image-based visual servo algorithm for an eye-in-hand visual system is proposed to control the movement of the anthropomorphic arm. The control objective of the controller is to lock all the feature points at fixed points on the image plane. Then, impedance control law is implemented to keep the flexible of the arm. Finally, the effectiveness of the proposed methods are verified by experiments on our humanoid robotic arm platform.

AB - One key technology for a humanoid robot is to sense the environment accurately and control the movement of the robot in realtime. This paper addresses this problem and focuses on the visual servoing control of an anthropomorphic robotic arm. A high precision, image-based visual servo algorithm for an eye-in-hand visual system is proposed to control the movement of the anthropomorphic arm. The control objective of the controller is to lock all the feature points at fixed points on the image plane. Then, impedance control law is implemented to keep the flexible of the arm. Finally, the effectiveness of the proposed methods are verified by experiments on our humanoid robotic arm platform.

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T2 - 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013

Y2 - 12 December 2013 through 14 December 2013

ER -

Hand-eye servo and flexible control of an anthropomorphic arm

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