Title :
Adaptive hybrid control for visual and force servoing in an unknown environment
Author :
Hosoda, Koh ; Igarashi, Katsuji ; Asada, Minoru
Author_Institution :
Adaptive Machine Syst., Osaka Univ., Japan
fDate :
12/1/1998 12:00:00 AM
Abstract :
An adaptive robot controller is proposed to achieve a contacting task with an unknown environment, while the robot is visually guided. Since the proposed controller has online estimators for the parameters of the camera-manipulator system and the unknown constraint surface, the controller needs no a priori knowledge besides the manipulator kinematics. Experimental results validate the proposed scheme
Keywords :
adaptive control; force control; manipulators; parameter estimation; robot vision; servomechanisms; adaptive hybrid control; adaptive robot controller; camera-manipulator system; force servoing; manipulator kinematics; online parameter estimators; unknown constraint surface; unknown environment; visual servoing; visually guided robot; Adaptive control; Automatic control; Force control; Force sensors; Orbital robotics; Parameter estimation; Programmable control; Robot control; Robot kinematics; Robot sensing systems; Robotics and automation; Visual servoing;
Journal_Title :
Robotics & Automation Magazine, IEEE
