Nonlinear systems analysis (2nd ed.)
Nonlinear systems analysis (2nd ed.)
Visual Control of Robots: High-Performance Visual Serving
Visual Control of Robots: High-Performance Visual Serving
Robot Force Control
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
Reliable, Built-in, High-Accuracy Force Sensing for Legged Robots
International Journal of Robotics Research
Hybrid Adaptive Vision-Force Control for Robot Manipulators Interacting with Unknown Surfaces
International Journal of Robotics Research
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This work proposes control structures that efficiently combine force control with vision servo control of robot manipulators. Impedance controllers are considered which are based both on visual servoing and on physical or fictitious force feedback, the force and visual information being combined in the image space. Force and visual servo controllers included in extended hybrid control structures are also considered. The combination of both force and vision based control allows the tasks range of the robot to be extended to partially structured environments. The proposed controllers, implemented on an industrial SCARA-type robot, are tested in tasks involving physical and virtual contact with the environment.