Adaptive visual servoing and force control fusion to track surfaces

Abstract

This paper describes an adaptive and autocalibrated method to track surfaces. To do so, a non time dependent impedance control system is proposed. This method fuses visual and force information to track a given trajectory maintaining the contact with the surface. The main contribution of the visual servoing approach employed by the impedance control system is the possibility of carrying out the tracking of the trajectory, avoiding time restrictions and without previous knowledge of the intrinsic parameters employed. An adaptive stochastic approach is defined to increase or decrease the tracking speed depending on the impedance control system behaviour.