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Combined force and visual control of an industrial robot

Published online by Cambridge University Press:  21 April 2004

Ricardo Carelli ,
Eduardo Oliva ,
Carlos Soria  and
Oscar Nasisi
Ricardo Carelli
Affiliation:
Instituto de Auntomática (INAUT), Facultad de Ingeniería, Universidad Nacional de San Juan, Av. San Martin Oeste 1109, San Juan (5400) (Argentina). E-mail: rcarelli@inaut.unsj.edu.ar
Eduardo Oliva
Affiliation:
Instituto de Auntomática (INAUT), Facultad de Ingeniería, Universidad Nacional de San Juan, Av. San Martin Oeste 1109, San Juan (5400) (Argentina).
Carlos Soria
Affiliation:
Instituto de Auntomática (INAUT), Facultad de Ingeniería, Universidad Nacional de San Juan, Av. San Martin Oeste 1109, San Juan (5400) (Argentina).
Oscar Nasisi
Affiliation:
Instituto de Auntomática (INAUT), Facultad de Ingeniería, Universidad Nacional de San Juan, Av. San Martin Oeste 1109, San Juan (5400) (Argentina).
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Abstract

This work proposes control structures that efficiently combine force control with vision servo control of robot manipulators. Impedance controllers are considered which are based both on visual servoing and on physical or fictitious force feedback, the force and visual information being combined in the image space. Force and visual servo controllers included in extended hybrid control structures are also considered. The combination of both force and vision based control allows the tasks range of the robot to be extended to partially structured environments. The proposed controllers, implemented on an industrial SCARA-type robot, are tested in tasks involving physical and virtual contact with the environment.

Keywords

Robot manipulatorsVisual servoingImpedance controlForce controlHybrid control
Type
Research Article
Information
Robotica , Volume 22 , Issue 2 , March 2004 , pp. 163 - 171
Copyright
2004 Cambridge University Press

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