<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>Uncalibrated visual servoing based on SVR-Jacobian estimator is proposed in unknown environment. Multiple support vector regression (SVR) machines are used to estimate the Jacobian matrix of images, and the nonlinear mapping between the image features of the curved line and the robot joint angle is constructed, uncalibrated robot impedance control can be carried out. Image Jacobian matrix expression with Gaussian kernel is put forward, the effectiveness of the presented approach is verified by using a 6 DOF robot with a CCD camera and a force/torque sensor installed in its end effector</p>
</abstract>

Uncalibrated visual servoing based on SVR-Jacobian estimator is proposed in unknown environment. Multiple support vector regression (SVR) machines are used to estimate the Jacobian matrix of images, and the nonlinear mapping between the image features of the curved line and the robot joint angle is constructed, uncalibrated robot impedance control can be carried out. Image Jacobian matrix expression with Gaussian kernel is put forward, the effectiveness of the presented approach is verified by using a 6 DOF robot with a CCD camera and a force/torque sensor installed in its end effector

Robotic Adaptive Impedance Control Based On Visual Guidance

International Journal on Smart Sensing and Intelligent Systems

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

{"article-title":"Robotic Adaptive Impedance Control Based On Visual Guidance"}

Uncalibrated visual servoing based on SVR-Jacobian estimator is proposed in unknown environment. Multiple support vector regression (SVR) machines are used to...

Robotic Adaptive Impedance Control Based On Visual Guidance

Pubblicato online: 01 dic 2015

Pagine: 2159 - 2174

Ricevuto: 30 gen 2015

Accettato: 01 ago 2015

DOI: https://doi.org/10.21307/ijssis-2017-847

Parole chiave
robot, vision, impedance control, support vector regression, Jacobian matrix

© 2015 Li Erchao et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Robotic Adaptive Impedance Control Based On Visual Guidance

Pubblicato online: 01 dic 2015

Pagine: 2159 - 2174

Ricevuto: 30 gen 2015

Accettato: 01 ago 2015

DOI: https://doi.org/10.21307/ijssis-2017-847

Parole chiaverobot, vision, impedance control, support vector regression, Jacobian matrix

© 2015 Li Erchao et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Parole chiave
robot, vision, impedance control, support vector regression, Jacobian matrix