Visual Impedance Using lms Visual Feedback System

摘要

Abstract We introduce visual impedance, a new scheme forvision based control which realizes task-level dynami-cal robot control using a Ims m“sualfeedback system.This method is simply described as applying image fea-tures to the impedance equation so that integration ofa visual servo and a conventional servo system canbe naturally accomplished. With visual impedance, anadaptive motion is obtained for real robot tasks in dy-namically changing or unknown environments basedon the framework of impedance control.In such cases, very high rate visual feedback is nec-essa~ to control robot dynamics but most conventionalvision systems using CCD cameras can never satisfy this condition because their sampling rate is limited bythe video signal. To solve this problem, we developed ageneral-purposed vision chip SPE and the Ims visualfeedback system which can achieve an adequate servorate to control dynamics. In this paper, we first illustrate the concept of visualimpedance. Then our Ims visual feedback system for arobot control system is described. Last we show someexperimental results with some real robot tasks.