A stable hybrid force/vision control scheme for planar, torque-driven robotic manipulators
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abstract
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A hybrid control scheme is presented, which uses a direct force control algorithm mixed with an image-based, free of camera calibration, visual control algorithm; both with the same priority level. From the proposed control scheme two structures are derived; the first one is a linear proportional-derivative type controller and the second one is a nonlinear proportional-derivative structure, based on the hyperbolic tangent function (tanh); in both cases a Lyapunov’s stability analysis is presented. Finally, some simulation results are included in order to demonstrate the good performance of the proposed control scheme. © 2018 Acta Press. All rights reserved.
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Control; Force; Robot manipulator; Stability; Vision Hyperbolic functions; Industrial manipulators; Intelligent systems; Robotics; Visual servoing; Camera calibration; Control schemes; Direct force control; Hybrid control scheme; Hyperbolic tangent function; Proportional derivatives; Robotic manipulators; Stability analysis; Manipulators
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