| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 712390 | IFAC Proceedings Volumes | 2007 | 6 Pages |
Abstract
This paper describes an uncalibrated visual-force control system which does not require any kinematic calibration to develop the task. An important aspect of these kinds of control systems is the necessity to maintain the coherence between the control actions obtained from each sensorial system. To do so, the paper proposes to modify the image trajectory from the information obtained from the force sensor by using the concept of force-image interaction matrix. This matrix relates changes in the image space with changes in the interaction forces. In order to estimate the value of this matrix this paper suggests the use of a Gauss-Newton method.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
