Parallel Image-Based Visual Servoing/Force Control of a Collaborative Delta Robot

Minglei Zhu; Cong Huang; Zhiqiang Qiu; Wei Zheng; Dawei Gong

doi:10.3389/fnbot.2022.922704

Parallel Image-Based Visual Servoing/Force Control of a Collaborative Delta Robot

Front Neurorobot. 2022 Jun 1:16:922704. doi: 10.3389/fnbot.2022.922704. eCollection 2022.

Authors

Minglei Zhu¹, Cong Huang¹, Zhiqiang Qiu², Wei Zheng², Dawei Gong¹

Affiliations

¹ School of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu, China.
² Science and Technology on Thermal Energy and Power Laboratory, Wuhan Second Ship Design and Research Institute, Wuhan, China.

Abstract

In this paper, a parallel Image-based visual servoing/force controller is developed in order to solve the interaction problem between the collaborative robot and the environment so that the robot can track the position trajectory and the desired force at the same time. This control methodology is based on the image-based visual servoing (IBVS) dynamic computed torque control and couples the force control feedback in parallel. Simulations are performed on a collaborative Delta robot and two types of image features are tested to determine which one is better for this parallel IBVS/force controller. The results show the efficiency of this controller.

Keywords: Delta robot; collaborative robot; image moment visual servoing; image-based visual servoing/force control; trajectory tracking.