In this paper, a force/position control law for a robot manipulator in contact with a partially known environment is proposed. The environment is a rigid object of known geometry but of unknown and time-varying pose. An algorithm for online estimation of the object pose is adopted, based on visual data provided by a camera as well as on forces measured during the interaction with the environment. This information is used by a hybrid force/position control scheme. Simulation results are presented for the case of an industrial robot manipulator in contact with a planar surface.
Robot force/position control with force and visual feedback / Lippiello, Vincenzo; Siciliano, Bruno; Villani, Luigi. - ELETTRONICO. - (2007), pp. 3790-3795. (Intervento presentato al convegno 9th European Control Conference tenutosi a Kos, Greece nel July).
Robot force/position control with force and visual feedback
LIPPIELLO, VINCENZO;SICILIANO, BRUNO;VILLANI, LUIGI
2007
Abstract
In this paper, a force/position control law for a robot manipulator in contact with a partially known environment is proposed. The environment is a rigid object of known geometry but of unknown and time-varying pose. An algorithm for online estimation of the object pose is adopted, based on visual data provided by a camera as well as on forces measured during the interaction with the environment. This information is used by a hybrid force/position control scheme. Simulation results are presented for the case of an industrial robot manipulator in contact with a planar surface.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
