Path-Tracking Maneuvers With Industrial Robot Manipulators Using Uncalibrated Vision and Impedance Control

摘要: This paper presents an interaction control strategy for industrial robot manipulators which consists of the combination a calibration-free, vision-based method with impedance-control approach. The vision-based, known as camera-space manipulation is used to generate given, previously defined trajectory over arbitrary surface. Then, kinematic impedance controller implemented in order regulate forces generated by contact between end-effector and work surface where traced. experimental evidence on how vision-force sensory fusion applied path-tracking task, using Fanuc M16-iB equipped force/torque sensor at wrist. In this several levels force were defined. As discussed paper, such synergy schemes seen viable alternative performing maneuvers that require modulation tool held working