Impedance control for fusing multisensorial systems in robotic manipulation tasks

Abstract

In this paper an impedance control scheme is described in order to allow the joint use of visual and force information for controlling a robot during the tracking of a surface. A visual servoing system is employed for following a trajectory in the image space. The impedance control modifies the trajectory obtained from the visual servoing system allowing the system to maintain a constant force with respect the surface. In order to improve the system behaviour an adaptive approach is proposed so that the tracking velocity is modified depending on the value of the Generalized Likelihoot Ratio obtained from the interaction forces measured during the tracking.