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

页码：2244 / 2249

页数：6

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