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Visual feedback can help a robot to deal with unexpected events and uncertainty in applications such as flexible manufacturing. For example, motion of a workpiece can be handled by tracking the moving object with a manipulator. In the paper, we present a velocity and force control scheme for tracking a moving target with the robotic manipulator using vision. The control scheme consists of two modules: The first one generates candidate actions to drive the end-effector as accurate as possible near the moving target, so that the second module can impact the moving target and maintain constant force. The experimental results support the claim that the approach could be successfully applied to impact and track a moving target with a constant force.