Intelligent robotic manipulation with hybrid position/force control in an uncalibrated workspace

Di Xiao, B. K. Ghosh, Ning Xi, Tzyh Jong Tarn

Research output: Chapter in Book/Report/Conference proceedingConference contribution

16 Scopus citations

Abstract

This paper discusses the planning and control problems of a robot manipulator for a class of constrained motions. The task under consideration is to control a robot such that a tool grasped by the end-effector of the robot follows a path on an unknown surface with the aid of a single camera vision system. To accomplish the task, we propose a new planning and control strategy based on multisensor fusion. Three different sensors-joint encoders, a wrist force-Torque sensor and a vision system with a single camera fixed above a workspace-Are employed. We decouple control variables into two sub-spaces: one is for force control and the other for control of constrained motion. We also develop a new scheme by means of sensor fusion to handle the uncertainties in an uncalibrated workspace. The contact surface is assumed to be unknown and the precise position and orientation of the camera with respect to the robot is also unknown.

Original languageEnglish
Title of host publicationProceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1671-1676
Number of pages6
ISBN (Print)078034300X
DOIs
StatePublished - 1998
Event15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
Duration: May 16 1998May 20 1998

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2
ISSN (Print)1050-4729

Conference

Conference15th IEEE International Conference on Robotics and Automation, ICRA 1998
CountryBelgium
CityLeuven
Period05/16/9805/20/98

Fingerprint Dive into the research topics of 'Intelligent robotic manipulation with hybrid position/force control in an uncalibrated workspace'. Together they form a unique fingerprint.

Cite this