3132 Contact with an Unknown Inclined Plane with Sliding Mode Control and Angle Detection using Vision

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  • 3132 スライディングモード制御および視覚による角度検出を用いた未知斜面への接触動作(センシングとロボットの制御)

Abstract

In recent years, intelligent robots that work automatically have become required. Conventional robots have been used in specific environments, but these new robots are going to be used in universal environments that are not constant. For that reason, it is necessary for a robot to be able to recognize diverse outside environments. In this study, we attach two visual sensors, which are CCD cameras, and one force sensor to a robot to provide information on the outside environment. To contact an unknown inclined plane perpendicularly, it is necessary to detect the position and the angle of the plane. In general, the three-dimensional position of a target is obtained by stereo analysis, but there is no technique to detect an unknown inclined plane. So we propose a new method of angle detection using vision. Also, because it is necessary to have flexible contact, it is essential to use a universal force controller. For this force controller we use an impedance controller together with a sliding mode controller that has outstanding robustness. A contact task was carried out using the proposed control system, and the practicability of this method was verified..

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