Title: Research on Robot Manipulator Servo Control Based on Force and Vision Sensing
Abstract: A method for uncertain plane surface tracing Based on vision and force sensing is proposed. A stereo vision system is employed to estimate the normal direction of the plane surface and to control the end-effector's motions which are parallel to the plane surface. A force sensor is used to acquire the contact force information between the end-effector and the environment and to control the end-effector's motion component which is vertical to the plane surface. This approach is validated by simulation with the robot toolbox for MATLAB.
Publication Year: 2013
Publication Date: 2013-08-01
Language: en
Type: article
Indexed In: ['crossref']
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Cited By Count: 2
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