Name
Abstract | ||
|---|---|---|
We propose a simple and efficient control algorithm that combines visual servo control and force feedback within the impedance control approach. The control scheme involves, at the low level, a position based impedance controller with an external force sensor feedback loop. The reference trajectory fed to this impedance controller is generated online by a vision based control loop. In spite of its simplicity, this approach provides satisfactory experimental behavior. Peg in hole insertion experiments involving large initial errors, are performed using a 7 axis robot manipulator without any computation of the peg trajectory |
Year | DOI | Venue |
|---|---|---|
1998 | 10.1109/ROBOT.1998.677418 | Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference |
Keywords | Field | DocType |
control system analysis,feedback,force control,manipulator kinematics,motion estimation,position control,robot vision,stability,7 axis robot manipulator,external force sensor feedback loop,force feedback,impedance control,peg in hole insertion,position based impedance controller,reference trajectory,vision based control loop,visual servo control | Control theory,Control theory,Control engineering,Feedback loop,Electrical impedance,Impedance control,Control system,Servo control,Engineering,Haptic technology,Trajectory | Conference |
Volume | ISSN | ISBN |
2 | 1050-4729 | 0-7803-4300-X |
Citations | PageRank | References |
32 | 2.23 | 8 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Guillaume Morel | 1 | 32 | 2.23 |
| Ezio Malis | 2 | 1322 | 80.65 |
| Sylvie Boudet | 3 | 326 | 31.11 |