Comparison of combined vision/force control strategies for robot manipulators (Invited Paper)

Lingfeng Deng; F. Janabi-Sharifi; I. Hassanzadeh

doi:10.1117/12.649101

6 December 2005 Comparison of combined vision/force control strategies for robot manipulators (Invited Paper)

Lingfeng Deng, F. Janabi-Sharifi, I. Hassanzadeh

Proceedings Volume 6052, Optomechatronic Systems Control; 605202 (2005) https://doi.org/10.1117/12.649101
Event: Optomechatronic Technologies 2005, 2005, Sapporo, Japan

Abstract

In this paper, the problem of combined vision/force servo control for robot manipulator is addressed. Three different robot vision control strategies: position-based, image-based, and hybrid control are combined with an impedance-based force controller and a comparison of these three combined vision/force control methods is investigated for the first time, in the context of generic robot kinematic-based sensory-task-space control structure. Furthermore, the issue of contact surface parameters estimation is also investigated. Simulation results have demonstrated that all the above vision/force control strategies are comparable in terms of both the dynamic response and accuracy of positioning and force control.

Citation Download Citation

Lingfeng Deng, F. Janabi-Sharifi, and I. Hassanzadeh "Comparison of combined vision/force control strategies for robot manipulators (Invited Paper)", Proc. SPIE 6052, Optomechatronic Systems Control, 605202 (6 December 2005); https://doi.org/10.1117/12.649101

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