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Proceedings Paper

Comparison of combined vision/force control strategies for robot manipulators (Invited Paper)
Author(s): Lingfeng Deng; F. Janabi-Sharifi; I. Hassanzadeh
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Paper Abstract

In this paper, the problem of combined vision/force servo control for robot manipulator is addressed. Three different robot vision control strategies: position-based, image-based, and hybrid control are combined with an impedance-based force controller and a comparison of these three combined vision/force control methods is investigated for the first time, in the context of generic robot kinematic-based sensory-task-space control structure. Furthermore, the issue of contact surface parameters estimation is also investigated. Simulation results have demonstrated that all the above vision/force control strategies are comparable in terms of both the dynamic response and accuracy of positioning and force control.

Paper Details

Date Published: 6 December 2005
PDF: 12 pages
Proc. SPIE 6052, Optomechatronic Systems Control, 605202 (6 December 2005); doi: 10.1117/12.649101
Show Author Affiliations
Lingfeng Deng, MDA Space Missions (Canada)
F. Janabi-Sharifi, Ryerson Univ. (Canada)
I. Hassanzadeh, Ryerson Univ. (Canada)

Published in SPIE Proceedings Vol. 6052:
Optomechatronic Systems Control
Farrokh Janabi-Sharifi, Editor(s)

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