Hybrid vision-force control for robot with uncertainties

Most research so far on vision control of robot manipulator has been focused on free motion control. In order to expand the applications of vision-based controllers, it is necessary to control the force in addition to the motion. The vision and force control problem of robot manipulators with uncertain kinematics, dynamics, camera model and constraint surface is addressed. An adaptive set point control law is proposed for vision and force control. Sufficient conditions for choosing the feedback gains are presented to guarantee the stability. It is shown that the stability can be achieved in the presence of the uncertainties.