Adaptive hybrid control for visual and force servoing in an unknown environment

Authors
Hosoda, K Igarashi, K Asada, M
Citation
K. Hosoda et al., Adaptive hybrid control for visual and force servoing in an unknown environment, IEEE ROB AU, 5(4), 1998, pp. 39-43
Citations number
9
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
IEEE ROBOTICS & AUTOMATION MAGAZINE
ISSN journal
10709932 → ACNP
Volume
5
Issue
4
Year of publication
1998
Pages
39 - 43
Database
ISI
SICI code
1070-9932(199812)5:4<39:AHCFVA>2.0.ZU;2-A
Abstract
An adaptive robot controller is proposed to achieve a contacting task with an unknown environment, while the robot is visually guided. Since the propo sed controller has on-line estimators for the parameters of the camera-mani pulator system and the unknown constraint surface, the controller needs no a priori knowledge besides the manipulator kinematics. Experimental results validate the proposed scheme.