Research on Robot Manipulator Servo Control Based on Force and Vision Sensing

A method for uncertain plane surface tracing Based on vision and force sensing is proposed. A stereo vision system is employed to estimate the normal direction of the plane surface and to control the end-effector´s motions which are parallel to the plane surface. A force sensor is used to acquire the contact force information between the end-effector and the environment and to control the end-effector´s motion component which is vertical to the plane surface. This approach is validated by simulation with the robot toolbox for MATLAB.