Hybrid Adaptive Vision—Force Control for Robot Manipulators Interacting with Unknown Surfaces
Leite AC et al. - 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. [more...]
|
|
|
