期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 29, 期 6, 页码 1457-1468出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2013.2275651
关键词
Contact modeling; deformable models; dexterous manipulation; shape control; visual servoing
类别
资金
- Hong Kong Research Grant Council [415011]
- Hong Kong Innovation and Technology Fund [ITS/475/09]
- Shun Hing Institute of Advanced Engineering
- Chinese University of Hong Kong
- Conacyt Mexico [212019]
Despite the recent progress in physically interactive and surgical robotics, the active deformation of compliant objects remains an open problem. The main obstacle to its implementation comes from the difficulty to identify or estimate the object's deformation model. In this paper, we propose a novel vision-based deformation controller for robot manipulators interacting with unknown elastic objects. We derive a new dynamic-state feedback velocity control law using the passivity-based framework. Our method exploits visual feedback to estimate the deformation Jacobian matrix in real time, avoiding any model identification steps. We prove that even in the presence of inexact estimations, the closed-loop dynamical system ensures input-to-state stability (i.e., full dissipativity) with respect to external disturbances. An experimental study with several deformation tasks is presented to validate the theory.
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