Abstract:
In contrast to most hybrid vision/force research, this work uses eye-in-hand vision and force control. Mounting both sensors on the same end effector gives rise to new co...Show MoreMetadata
Abstract:
In contrast to most hybrid vision/force research, this work uses eye-in-hand vision and force control. Mounting both sensors on the same end effector gives rise to new constraints, control issues and advantages, which are discussed in the paper. Four meaningful tool/camera configurations, being parallel or non-parallel endpoint closed-loop and fixed or variable endpoint open-loop are suggested. Several task examples (in 3D space), specified in the task frame formalism, illustrate the use of these four configurations. Experimental results for the fixed EOL configuration are presented.
Published in: Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)
Date of Conference: 11-15 May 2002
Date Added to IEEE Xplore: 07 August 2002
Print ISBN:0-7803-7272-7