中文摘要：

一个位置 / 力量混血儿控制系统基于阻抗控制计划被设计排列小 gripper 到一个特殊戒指目标。显微镜视觉系统提供的视觉信息被用作反馈显示在 gripper 和戒指对象之间的位置关系。gripper 和戒指目标的多重图象特征被提取估计在他们之间的相对位置。gripper 的结束受动器用提取特征被追踪在看法的地里使 gripper 动人。传感器作为反馈服务保证在 gripper 和戒指之间的接触力量反对的从力量的力量信息在一个小安全范围被限制。试验性的结果验证建议控制策略的有效性。

英文摘要：

A position/force hybrid control system based on impedance control scheme is designed to align a small gripper to a special ring object. The vision information provided by microscope vision system is used as the feedback to indicate the position relationship between the gripper and the ring object. Multiple image features of the gripper and the ring object are extracted to estimate the relative positions between them. The end-effector of the gripper is tracked using the extracted features to keep the gripper moving in the field of view. The force information from the force sensor serves as the feedback to ensure that the contact force between the gripper and the ring object is limited in a small safe range. Experimental results verify the effectiveness of the proposed control strategy.