Adaptive IBVS and Force Control for Uncertain Robotic System with Unknown Dead-zone Inputs

Abstract

This article introduces a novel control strategy for the uncertain eye-to-hand system, which is considered to work with unknown model of constraint surface and uncalibrated camera model. Besides, the uncertain dynamics and kinematics are also included in the system. In order to be closer to the real robot system, we also consider it with dead-zone inputs situation. So the parameter intervals and slopes of the dead-zone model is also unknown. Hence, a novel adaptive image-based visual servoing (IBVS) and force control approach is put forward. The control method of unknown force and uncalibrated camera model is achieved by adaptive control. The solution of unknown dead-zone inputs is completed by designing a inverse smooth model of dead-zone inputs to offset the nonlinear affect due to the actuator constraint, and the whole system is proved that the force tracking control and image position converge to zero asymptotically. Finally, the MATLAB simulation is set up and the experiment shows the validity of the proposed scheme.

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Correspondence to Sihang Zhang.

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Recommended by Associate Editor Yingmin Jia under the direction of Editor Fumitoshi Matsuno.

Sihang Zhang received his B.Eng. degree in the Department of Automation from Nanjing Normal University in 2016. He is currently a Ph.D. Candidate in Department of Automation, University of Science and Technology of China, Hefei, China. His research interests include robotic control and visual servoing control.

Haibo Ji received his B.Eng. and Ph.D. degrees in mechanical engineering from Zhejiang University and Beijing University, in 1984 and 1990, respectively. He is currently a professor in Department of Automation, University of Science and Technology of China, Hefei, China. His research interests include nonlinear control and adaptive control.

Hepeng Zhang received his B.D. in the School of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China in 2019, Chengdu, China. He is currently an M.D. Candidate in the Department of Automation, University of Science and Technology of China, Hefei, China. His research interests include the control of nonlinear system and their applications.

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Zhang, S., Ji, H. & Zhang, H. Adaptive IBVS and Force Control for Uncertain Robotic System with Unknown Dead-zone Inputs. Int. J. Control Autom. Syst. (2021). https://doi.org/10.1007/s12555-020-0008-6

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Keywords

  • Dead-zone input
  • eye-to-hand system
  • force control
  • uncalibrated visual servoing