Hybrid vision-force robot control for tasks on unknown smooth surfaces

摘要

This work considers a hybrid force and vision control system for robotic manipulators using a force sensor and a fixed uncalibrated camera. A method is proposed to combine direct force control and adaptive visual servoing to perform tasks on unknown smooth surfaces, in the presence of uncertainties in the camera-robot system parameters. The considered task involves the visual tracking of a moving target, while the end-effector tip exerts a controlled contact force on the surface. Simulation results are presented to illustrate the performance of the proposed scheme