Cooperative mobile manipulator with dual compliance controllers based on estimated torque and visual force

Abdul Muis, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

This paper proposes dual compliance controllers based on estimated torque and visual force on mobile manipulator to provide cooperativeness. A compliance control provides robot with affinity and adaptability to work in open environment. Generally, compliance control is a control system with trajectory compensation so that an external force may be followed. However, this paper compensates not only external force of physical sensation, but also virtual force of non-physical sensation based on visual information. Here, the robot will be compliance with wider sensation. The visual information is provided by high-speed vision sensor. The target object is attached with hexagon pattern of artificial markers to reduce the required image processing time. The distance approximation between the object and the camera is used as visual force not as position or speed reference that commonly used in visual servoing. Later, the visual force adjusts the mobile manipulator command reference. Finally, the experimental result shows the validity of the proposed method.

Original languageEnglish
Title of host publication2006 IEEE International Conference on Mechatronics, ICM
Pages619-624
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE International Conference on Mechatronics, ICM - Budapest, Hungary
Duration: 2006 Jul 32006 Jul 5

Publication series

Name2006 IEEE International Conference on Mechatronics, ICM

Other

Other2006 IEEE International Conference on Mechatronics, ICM
CountryHungary
CityBudapest
Period06/7/306/7/5

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Mechanical Engineering

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  • Cite this

    Muis, A., & Ohnishi, K. (2006). Cooperative mobile manipulator with dual compliance controllers based on estimated torque and visual force. In 2006 IEEE International Conference on Mechatronics, ICM (pp. 619-624). [4018432] (2006 IEEE International Conference on Mechatronics, ICM). https://doi.org/10.1109/ICMECH.2006.252597