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A Position-Based Visual Impedance Control for Robot Manipulators

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3 Author(s)
Lippiello, V. ; Dipt. di Informatica e Sistemistica, Universita di Napoli Federico II ; Siciliano, B. ; Villani, L.

In this paper, an approach to interaction control of a robot manipulator with a partially known environment is proposed. The environment is a rigid object of known geometry but of unknown and possibly time-varying position and orientation. An algorithm for online estimation of the object pose is adopted, based on visual data provided by a camera as well as on forces and moments measured during the interaction with the environment. This algorithm is embedded into an impedance control scheme, resulting in a position-based visual impedance control. Experimental results are presented for the case of an industrial robot manipulator in contact with a planar surface.

Published in:

Robotics and Automation, 2007 IEEE International Conference on

Date of Conference:

10-14 April 2007