In this paper, an approach to interaction control of a robot manipulator with a partially known environment is proposed. The environment is a rigid object of known geometry but of unknown and possibly time-varying position and orientation. An algorithm for online estimation of the object pose is adopted, based on visual data provided by a camera as well as on forces and moments measured during the interaction with the environment. This algorithm is embedded into an impedance control scheme, resulting in a position-based visual impedance control. Experimental results are presented for the case of an industrial robot manipulator in contact with a planar surface. © 2007 IEEE.
A position-based visual impedance control for robot manipulators / Lippiello, Vincenzo; Siciliano, Bruno; Villani, Luigi. - (2007), pp. 2086-2091. (Intervento presentato al convegno IEEE International Conference on Robotics and Automation tenutosi a Roma nel April) [10.1109/ROBOT.2007.363626].
A position-based visual impedance control for robot manipulators
LIPPIELLO, VINCENZO;SICILIANO, BRUNO;VILLANI, LUIGI
2007
Abstract
In this paper, an approach to interaction control of a robot manipulator with a partially known environment is proposed. The environment is a rigid object of known geometry but of unknown and possibly time-varying position and orientation. An algorithm for online estimation of the object pose is adopted, based on visual data provided by a camera as well as on forces and moments measured during the interaction with the environment. This algorithm is embedded into an impedance control scheme, resulting in a position-based visual impedance control. Experimental results are presented for the case of an industrial robot manipulator in contact with a planar surface. © 2007 IEEE.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
