Hybrid vision-force robot control for tasks on unknown smooth surfaces

被引：10
|
作者：
Leite, Antonio C. [1 ]
Lizarralde, Fernando [1 ]
Hsu, Liu [1 ]
机构：
[1] Univ Fed Rio de Janeiro, Dept Elect Engn, COPPE, BR-21945970 Rio De Janeiro, Brazil
来源：
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 | 2006年
关键词：
D O I：
10.1109/ROBOT.2006.1642037
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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 end-effector tip exerts a controlled contact force on the surface. Simulation results are presented to illustrate the performance of the proposed scheme.
引用
收藏
页码：2244 / 2249
页数：6
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