Robot force/position control with force and visual feedback

Author

Lippiello, Vincenzo ; Siciliano, Bruno ; Villani, Luigi

Author_Institution

PRISMA Lab., Univ. di Napoli Federico II, Naples, Italy

fYear

2007

fDate

2-5 July 2007

Firstpage

3790

Lastpage

3795

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.

Keywords

force control; force feedback; force measurement; industrial manipulators; pose estimation; position control; robot vision; camera; environment interaction; force feedback; force measurement; hybrid force/position control scheme; industrial robot manipulator; online object pose estimation; planar surface contact; rigid object; robot force/position control law; time-varying pose; unknown pose; visual data; visual feedback; Cameras; Equations; Force; Robot kinematics; Robot sensing systems; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2007 European

Conference_Location

Kos

Print_ISBN

978-3-9524173-8-6

Type

conf

Filename

7068798