Interaction Control of Robot Manipulators Using Force and Vision

摘要

An approach to force and visual control of robot manipulators in contact with a partially known environment is proposed in this article. The environment is modeled as a rigid object of known geometry but of unknown and time-varying position and orientation. An algorithm for online estimation of the object pose is adopted, based on visual data provided by a camera as well as on forces measured during the interaction. This information is used by a force/position control scheme, in charge of managing the interaction. Simulation and experimental results are presented for the case of an industrial robot manipulator.