A framework for force and visual control of robot manipulators in contact with a partially known environment is proposed. The environment is modelled as a rigid object of known geometry but of unknown and time-varying pose. An algorithm for online estimation of the object pose is adopted, based on visual data as well as on force measurements. This information is used by a force/position controller. The resulting control scheme has a inner/outer structure where the outer loop performs pose estimation and the inner loop is devoted to interaction control.
A framework for force and visual control of robot manipulators / Lippiello, Vincenzo; Siciliano, Bruno; Villani, Luigi. - STAR 66:(2011), pp. 373-382. [10.1007/978-3-642-14743-2_31]
A framework for force and visual control of robot manipulators
LIPPIELLO, VINCENZO;SICILIANO, BRUNO;VILLANI, LUIGI
2011
Abstract
A framework for force and visual control of robot manipulators in contact with a partially known environment is proposed. The environment is modelled as a rigid object of known geometry but of unknown and time-varying pose. An algorithm for online estimation of the object pose is adopted, based on visual data as well as on force measurements. This information is used by a force/position controller. The resulting control scheme has a inner/outer structure where the outer loop performs pose estimation and the inner loop is devoted to interaction control.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.