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2007
IEEE

A Position-Based Visual Impedance Control for Robot Manipulators

9 years 4 months ago
A Position-Based Visual Impedance Control for Robot Manipulators
— In this paper, an approach to interaction control of a robot manipulator with a partially known environment is proposed. The environment is a rigid object of known geometry but of unknown and possibly time-varying position and orientation. An algorithm for online estimation of the object pose is adopted, based on visual data provided by a camera as well as on forces and moments measured during the interaction with the environment. This algorithm is embedded into an impedance control scheme, resulting in a position-based visual impedance control. Experimental results are presented for the case of an industrial robot manipulator in contact with a planar surface.
Vincenzo Lippiello, Bruno Siciliano, Luigi Villani
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where ICRA
Authors Vincenzo Lippiello, Bruno Siciliano, Luigi Villani
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