Hybrid Vision-force Robot Control for Tasks on Unknown Smooth Surfaces

— This work considers a hybrid force and vision control system for robotic manipulators using a force sensor and a fixed uncalibrated camera. A method is proposed to combine direct force control and adaptive visual servoing to perform tasks on unknown smooth surfaces, in the presence of uncertainties in the camera-robot system parameters. The considered task involves the visual tracking of a moving target, while the endeffector tip exerts a controlled contact force on the surface. Simulation results are presented to illustrate the performance of the proposed scheme.

• Type: Conference
• Year: 2006
• Where: ICRA
• Authors: Antonio C. Leite, Fernando C. Lizarralde, Liu Hsu
• Keywords: Adaptive Visual Servoing, Direct Force Control, Force Sensor, ICRA 2006, Robotics