Coordinated Compliance Control Method of Five-Axis Redundant Industrial Manipulator Based on Monocular Vision
In order to improve the accuracy of the five-axis redundant industrial robot arm in grasping static objects and shorten the grasping time, a coordinated compliance control method based on a monocular vision for the five-axis redundant industrial robot arm is proposed in this paper. Using the monocul...
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| Format: | Article |
| Language: | English |
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Wiley
2022-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2022/7696706 |
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| _version_ | 1832548757385773056 |
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| author | Hua Cen |
| author_facet | Hua Cen |
| author_sort | Hua Cen |
| collection | DOAJ |
| description | In order to improve the accuracy of the five-axis redundant industrial robot arm in grasping static objects and shorten the grasping time, a coordinated compliance control method based on a monocular vision for the five-axis redundant industrial robot arm is proposed in this paper. Using the monocular vision ranging method, the three-dimensional coordinates of the target object in a base coordinate system of the five-axis redundant industrial robotic arm are calculated and object target positioning is achieved. According to the acquired object target position, the traditional Euler angle is used to calculate the actuator posture impedance at the end of the robotic arm, thereby realizing the coordinated compliant control of the five-axis redundant industrial manipulator. The simulation experiment results show that the proposed coordinated compliance control method for a five-axis redundant industrial manipulator based on monocular vision can successfully grasp the target object in the shortest time and has high practical value. |
| format | Article |
| id | doaj-art-3858fdc31bdb4cf9a5b194534c10ee0e |
| institution | Kabale University |
| issn | 1687-5257 |
| language | English |
| publishDate | 2022-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-3858fdc31bdb4cf9a5b194534c10ee0e2025-02-03T06:13:04ZengWileyJournal of Control Science and Engineering1687-52572022-01-01202210.1155/2022/7696706Coordinated Compliance Control Method of Five-Axis Redundant Industrial Manipulator Based on Monocular VisionHua Cen0Department of Mechanical and Electrical EngineeringIn order to improve the accuracy of the five-axis redundant industrial robot arm in grasping static objects and shorten the grasping time, a coordinated compliance control method based on a monocular vision for the five-axis redundant industrial robot arm is proposed in this paper. Using the monocular vision ranging method, the three-dimensional coordinates of the target object in a base coordinate system of the five-axis redundant industrial robotic arm are calculated and object target positioning is achieved. According to the acquired object target position, the traditional Euler angle is used to calculate the actuator posture impedance at the end of the robotic arm, thereby realizing the coordinated compliant control of the five-axis redundant industrial manipulator. The simulation experiment results show that the proposed coordinated compliance control method for a five-axis redundant industrial manipulator based on monocular vision can successfully grasp the target object in the shortest time and has high practical value.http://dx.doi.org/10.1155/2022/7696706 |
| spellingShingle | Hua Cen Coordinated Compliance Control Method of Five-Axis Redundant Industrial Manipulator Based on Monocular Vision Journal of Control Science and Engineering |
| title | Coordinated Compliance Control Method of Five-Axis Redundant Industrial Manipulator Based on Monocular Vision |
| title_full | Coordinated Compliance Control Method of Five-Axis Redundant Industrial Manipulator Based on Monocular Vision |
| title_fullStr | Coordinated Compliance Control Method of Five-Axis Redundant Industrial Manipulator Based on Monocular Vision |
| title_full_unstemmed | Coordinated Compliance Control Method of Five-Axis Redundant Industrial Manipulator Based on Monocular Vision |
| title_short | Coordinated Compliance Control Method of Five-Axis Redundant Industrial Manipulator Based on Monocular Vision |
| title_sort | coordinated compliance control method of five axis redundant industrial manipulator based on monocular vision |
| url | http://dx.doi.org/10.1155/2022/7696706 |
| work_keys_str_mv | AT huacen coordinatedcompliancecontrolmethodoffiveaxisredundantindustrialmanipulatorbasedonmonocularvision |