Visual Impedance Using 1ms Visual Feedback System

We introduce visual impedance, a new scheme for vision based control which realizes task-level dynamical robot control using a Ims m“sualfeedback system. This method is simply described as applying image features to the impedance equation so that integration of a visual servo and a conventional servo system can be naturally accomplished. With visual impedance, an adaptive motion is obtained for real robot tasks in dynamically changing or unknown environments based on the framework of impedance control. In such cases, very high rate visual feedback is necessa~ to control robot dynamics but most conventional vision systems using CCD cameras can never satisfy this condition because their sampling rate is limited by the video signal. To solve this problem, we developed a general-purposed vision chip SPE and the Ims visual feedback system which can achieve an adequate servo rate to control dynamics. In this paper, we first illustrate the concept of visual impedance. Then our Ims visual feedback system for a robot control system is described. Last we show some experimental results with some real robot tasks.