Pomares, Jorge, Garcia, Gabriel J., Payá Pérez, Laura, Torres, Fernando
Adaptive visual servoing and force control fusion to track surfaces
POMARES BAEZA, Jorge, et al. “Adaptive visual servoing and force control fusion to track surfaces”. WSEAS Transactions on Systems. Vol. 5, Issue 1 (Jan. 2006). ISSN 1109-2777, pp. 25-32
URI: http://hdl.handle.net/10045/2891
DOI: 
ISSN: 1109-2777
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.
Keywords:Impedance control, Force control, Image based control, Visual servoing, Adaptive control, Sensor fusion
WSEAS
info:eu-repo/semantics/article