Object manipulation of a 4 degree ARM of robot based on visual feedforward and visual feedback

In order to realize the robot´s grasping operation, the paper presents a grasping strategy which is based visual feedforward and Visual feedback. By using visual feedforward, the robot hand can achieve preliminary location that is based a new inverse kinematics algorithm. Besides, visual feedback can compensate the error which is between hand and target. The combination of the two control algorithms can simplify the robot´s grasping operation, and the experiment demonstrates the algorithms´ correctness and feasibility.