Robotic Manipulation Using High Bandwidth Force and Vision Feedback

Bradley Nelson, James Morrow, and Pradeep Khosla
Mathematical and Computer Modelling - An International Journal, , 1995


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Abstract
High bandwidth sensor feedback is necessary for performing precise manipulation tasks within imprecisely calibrated and dynamically varying environments. Force controlled manipulation is a common technique for compliantly contacting and manipulating uncertain environments. visual servoing is an eflective technique for guiding imprecisely calibrated manipulators with imprecisely calibrated camera-lens systems. These two types of manipulator feedback, force and vision, represent complementary sensing modalities: visual feedback provides information over a relatively large area of the workspace without requiring contact with the environment, and force feedback provides highly localized and precise information upon contact. This paper presents three different strategies which combine force and vision within the feedback loop of a manipulator; traded control; hybrid control; and shared control. These strategies can be used alone, or in concert with each other, depending on the manipulation task. A discussion of the types of tasks that benefit from the strategies is included, as well as experimental results which show that the use of visual servoing to stably guide a manipulator simplifies the force control problem by allowing low gain force control with relatively large stability margins.

Notes
Associated Center(s) / Consortia: Vision and Autonomous Systems Center
Note: submitted

Text Reference
Bradley Nelson, James Morrow, and Pradeep Khosla, "Robotic Manipulation Using High Bandwidth Force and Vision Feedback," Mathematical and Computer Modelling - An International Journal, , 1995

BibTeX Reference
@article{Nelson_1995_4202,
   author = "Bradley Nelson and James Morrow and Pradeep Khosla",
   title = "Robotic Manipulation Using High Bandwidth Force and Vision Feedback",
   journal = "Mathematical and Computer Modelling - An International Journal",
   year = "1995",
   Notes = "submitted"
}