Robot Dynamics and Control
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
Computer and Robot Vision
Dynamic Control of Uncertain Manipulators Through Immersion and Invariance Adaptive Visual Servoing
International Journal of Robotics Research
International Journal of Robotics Research
Brief Lyapunov-based adaptive control of MIMO systems
Automatica (Journal of IFAC)
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A hybrid control scheme based on adaptive visual servoing and direct force control is proposed for robot manipulators to perform interaction tasks on smooth surfaces. The camera parameters, as well as the constraint surface, are considered to be uncertain. A fixed camera with optical axis non-perpendicular to the robot workspace is used for position control, while a force sensor mounted on the robot wrist is used for force regulation. In order to solve the interaction problem on unknown surfaces, a method is developed to estimate the constraint geometry and keep the end-effector orthogonal to the surface at the contact point, during the task execution. Experimental results are presented to illustrate the performance and feasibility of the proposed scheme.