This paper addresses real-time planning and control for robot manipulator in unknown workspace. The task under our consideration is to control a robot to follow a path on an unknown surface. In order to successfully a...
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This paper addresses real-time planning and control for robot manipulator in unknown workspace. The task under our consideration is to control a robot to follow a path on an unknown surface. In order to successfully accomplish the task, a novel strategy for integrating real-time planning and control is proposed to deal with the uncertainties in the environment by means of multisensor fusion. In the proposed scheme, a new planner is designed to complete the path-following task without apriori knowledge of the path, while the hybrid position/force control strategy is utilized to maintain the contact between the robot and the unknown surface. In this paper, to achieve intelligent robot manipulation in an unstructured workspace, complementary sensory data from force-torque and visual sensors is integrated simultaneously during robot constrained motion.
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