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Parallel visual-force control | IEEE Conference Publication | IEEE Xplore

Parallel visual-force control


Abstract:

Visual servos are inherently inaccurate due to lower resolution of reasonably priced cameras and poor calibration of robot-camera relative position and robot kinematic mo...Show More

Abstract:

Visual servos are inherently inaccurate due to lower resolution of reasonably priced cameras and poor calibration of robot-camera relative position and robot kinematic model. Instead of trying to improve those factors the paper presents an alternative solution in which the grasping operation is aided by force control which accommodates positional inaccuracies. The developed control law utilizes the superposition of visually generated desired position and desired mechanical impedance of the manipulator.
Date of Conference: 22-26 September 2008
Date Added to IEEE Xplore: 14 October 2008
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ISSN Information:

Conference Location: Nice, France

References

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