Title :
Parallel visual-force control
Author :
Staniak, Maciej ; Winiarski, Tomasz ; Zieliñski, Cezary
Author_Institution :
Warsaw Univ. of Technol., Warsaw
Abstract :
Visual servos are inherently inaccurate due to lower resolution of reasonably priced cameras and poor calibration of robot-camera relative position and robot kinematic model. Instead of trying to improve those factors the paper presents an alternative solution in which the grasping operation is aided by force control which accommodates positional inaccuracies. The developed control law utilizes the superposition of visually generated desired position and desired mechanical impedance of the manipulator.
Keywords :
cameras; force control; manipulator kinematics; robot vision; visual servoing; manipulator; mechanical impedance; parallel visual-force control; robot kinematic; robot-camera; visual servos; Cameras; Force; Force control; Robot vision systems; Robots; Servomotors; Visualization;
Conference_Titel :
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location :
Nice
Print_ISBN :
978-1-4244-2057-5
DOI :
10.1109/IROS.2008.4650654
