未知環境内で動作するロボットのビジュアルサーボ/カサーボハイブリッド制御系

抄録

This paper describes an adaptive hybrid visual servoing/force controller to realize visual servoing while the manipulator exerts contact force on a constraint surface. The proposed controller has a hybrid structure of force control and visual servoing control. It has on-line estimators for the parameters of the camera-manipulator system and for the parameters of the unknown constraint surface. It needs no α priori knowledge except the manipulator kinematics. First, we propose an estimator of an image Jacobian matrix which describes the relation between image features and the tip position/orientation of the manipulator. Second, a method to estimate the normal vector of the unknown constraintt surface is introduced. Then, an adaptive hybrid visual servoing/force controller is proposed. Finally, experimental results are shown to demonstrate the validity of the proposed method.