Hybrid position/force control of 6-dof hydraulic parallel manipulator using force and vision

Purpose The purpose of this paper is to propose a hybrid position/force control scheme using force and vision for docking task of a six degrees of freedom (6-dof) hydraulic parallel manipulator (HPM). Design/methodology/approach The vision system consisted of a charge-coupled device (CCD) camera, an...

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Veröffentlicht in:	Industrial robot 2016-05, Vol.43 (3), p.274-283
Hauptverfasser:	Gao, Changhong, Cong, Dacheng, Liu, Xiaochu, Yang, Zhidong, Tao, Han
Format:	Artikel
Sprache:	eng
Schlagworte:	Accuracy Cameras Control algorithms Control systems Controllers Experiments Hydraulics Kinematics Pneumatics Robots Sensors Vision systems
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