Hybrid vision-force control of robot without calibrations
Date of Issue2007
School of Electrical and Electronic Engineering
Robots have found wide applications in factories and most robot systems are designed and used to perform mainly repetitive operations in a structured environment. When the environment is not well structured, good performance can not be guaranteed. Vision-based control is a promising way to overcome the problems that many controllers currently face because it allows noncontact measurement of the environment. With rapid development in computing and sensor technologies, more sophisticated robots with vision can be designed. Considerable effort has been devoted to the development of vision-based controllers during past one decade. However, most research in vision-based control has focused on free motion control and the studies in vision and force control problems are still far from mature.
DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics