Pomares, Jorge, Torres, Fernando, Payá Pérez, Laura
Adaptive visual-force control in unknown workspaces
POMARES BAEZA, Jorge; TORRES MEDINA, Fernando; PAYÁ PÉREZ, Laura. "Adaptive visual-force control in unknown workspaces". En: ICINCO 2005, Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics : Barcelona, Spain, September 14-17, 2005. Setúbal : INSTICC Press, 2005. Vol. II, Robotics and Automation. ISBN 972-8865-30-9, pp. 196-201
URI: http://hdl.handle.net/10045/3282
DOI: 
ISSN: 
ISBN: 972-8865-30-9
Abstract: 
This paper proposes the definition of a new adaptive system that combines visual and force information. At
each moment, the proportion of information used from each sensor is variable depending on the adequacy of
each sensor to control the task. The sensorial information obtained is processed to allow the use of both
sensors for controlling the robot and avoiding situations in which the control actions are contradictory.
Although the visual servoing systems have certain robustness with respect to calibration errors, when the
image-based control systems are combined with force control we must accurately know the intrinsic
parameters. For this purpose an adaptive approach is proposed which updates the intrinsic parameters during
the task.
Keywords:Force control, Image-based control, Autocalibration
INSTICC Press
info:eu-repo/semantics/bookPart