Impedance based combination of visual and force control

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2, Issue , 1998, Pages 1743-1748

  Morel, G ^a   Malis, E ^b   Boudet, S ^c  

^a UNIVERSITÉ DE STRASBOURG   (France)

^b CAMPUS DE BEAULIEU   (France)

^c EDF DIEW P29   (France)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROLLERS; MANIPULATORS; ROBOT APPLICATIONS; ROBOTICS; VISUAL SERVOING; ALGORITHMS; COMPUTER VISION; CONTACT SENSORS; FEEDBACK CONTROL; FORCE CONTROL; POSITION CONTROL; SERVOMECHANISMS;

CONTROL SCHEMES; EFFICIENT CONTROL; IMPEDANCE CONTROL; IMPEDANCE CONTROLLERS; REFERENCE TRAJECTORIES; ROBOT MANIPULATOR; VISION BASED CONTROL; VISUAL SERVO CONTROL;

FEEDBACK; MANIPULATORS;

VISUAL CONTROL;

EID: 0031620302     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.1998.677418     Document Type: Conference Paper

References (16)

1. S.D. Eppinger and W.P Seering., Three dynamic problems in robot lorcc control, Proc. of IEEE Int. Conf on Robotics a i d Autoinntion, pp392-397, 1989.
2. O. Khatib, A unified approach for motion and force control : The operational space formulation, IEEE Trans. on Rohotics nnd Autoniation, 3 (3) : 43-53, 1987.
3. M.H. Raibert and J.J. Craig, Hybrid positiodforce control of manipulators, ASME Journal of Dynamic Systems, Measurement and Control, vol. 102, pp 126-133, 1981.
4. D. Lawrence, Impedance control stability properties in common implementations, Proc. of the IEEE Znt. Cunf on Robotics and Automation, pp 1185-1192, 1988.
5. S. Hutchinson, G.D. Hager and P.I. Corke, A tutorial on visual servo control, IEEE Trans. on Robotics and Automation, 12 (5) : 651-670, 1996.
6. W.J. Wilson, C.C.W. Hulls and G.S. Bell, Relative end-effector control using Cartesian position based visual servoing, IEEE Trans. on Robotics and Autonzation, 12 (5) : 684-696, 1996.
7. B. Espiau, F. Chaumette and P. Rives, A new approach to visual servoing in robotics. IEEE Trans. on Robotics and Automation, 8 (3) : 313-326, 1992.
8. R. Bajcsy, Integrating vision and touch for robotic applications, Trends and Applications of AI in Business, ed. W. Reitman, Ablex Publ. Co., 1984.
9. B.J. Nelson and P.K. Khosla, Force and vision resolvability for assimilating disparate sensory feedback, IEEE Trans. on Robotics and Automation, 12 (5) : 714-731, 1996.
10. K. Hosoda, K. Igarashi and M. Asada, Adaptive hybrid visual servoing /force control in unknown environment, Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1097-1103, 1996.
11. C. Samson, M. Leborgne and B. Espiau, Robor control : The task function approach, Clarendon Press, Oxford Science Publications, 1991.
12. G. Morel and P. Bidaud, A reactive external force loop approach to control manipulators in the presence of environmental disturbances, Proc. of the IEEE Int. Conf on Robotics and Automation, pp 1229-1234, 1996.
13. E. Malis, L. Morin and S. Boudet, Control of redundant robots at singularities in degenerate directions, Proc. of the 12th CISM-IFToMM Symp. on Theory and Pructice of Robots and Manipulators, pp 319-326, 1996.
14. D.E. Whitney, Force feedback control of manipulator fine motions, Journal of Dynamic Systems, Mensurenient and Control, pp 91-97, 1977.
15. E. Malis, F. Chaumette and S . Boudet, Positioning a coarse-calibrated camera with respect to an unknown planar object by 2D ?h visual servoing, Preprints of the 5th Symposium on Robot Control, SyRoCo97, pp 517-523, 1997
16. B. Espiau, JP Merlet and C. Samson, Force-feedback control and non-contact sensing: A unified approach , Proc. o j the 8th CISM-IFTOMM Symp. on Theory and Practice of Robots and Manipulators, Ro Man Sy90, 1990.