Sensor-Based Hybrid Position/Force Control of a Robot Manipulator in an Uncalibrated Environment. Xiao, D. & Ghosh, B. K IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 8(4):11, 2000. abstract bibtex This paper is devoted to the problem of controlling a robot manipulator for a class of constrained motions. The task under consideration is to control the manipulator, such that the end-effector follows a path on an unknown surface, with the aid of a single camera assumed to be uncalibrated with respect to the robot coordinates. To accomplish a task of this kind, we propose a new control strategy based on multisensor fusion. We assume that three different sensors—that is, encoders mounted at each joint of the robot with six degrees of freedom, a force-torque sensor mounted at the wrist of the manipulator, and a visual sensor with a single camera fixed to the ceiling of the workcell—are available. Also, we assume that the contact point between the tool grasped by the end-effector and the surface is frictionless.
@article{xiao_sensor-based_2000,
title = {Sensor-{Based} {Hybrid} {Position}/{Force} {Control} of a {Robot} {Manipulator} in an {Uncalibrated} {Environment}},
volume = {8},
abstract = {This paper is devoted to the problem of controlling a robot manipulator for a class of constrained motions. The task under consideration is to control the manipulator, such that the end-effector follows a path on an unknown surface, with the aid of a single camera assumed to be uncalibrated with respect to the robot coordinates. To accomplish a task of this kind, we propose a new control strategy based on multisensor fusion. We assume that three different sensors—that is, encoders mounted at each joint of the robot with six degrees of freedom, a force-torque sensor mounted at the wrist of the manipulator, and a visual sensor with a single camera fixed to the ceiling of the workcell—are available. Also, we assume that the contact point between the tool grasped by the end-effector and the surface is frictionless.},
language = {en},
number = {4},
journal = {IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY},
author = {Xiao, Di and Ghosh, Bijoy K},
year = {2000},
pages = {11}
}
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