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This paper presents an interaction control strategy for industrial robot manipulators which consists of the combination of a calibration-free, vision-based control method with an impedance-control approach. The vision-based, robot control method known as camera-space manipulation is used to generate a given, previously defined trajectory over an arbitrary surface. Then, a kinematic impedance controller is implemented in order to regulate the interaction forces generated by the contact between the robot end-effector and the work surface where the trajectory is traced. The paper presents experimental evidence on how the vision-force sensory fusion is applied to a path-tracking task, using a Fanuc M16-iB industrial robot equipped with a force/torque sensor at the wrist. In this task, several levels of interaction force between the robot end-effector and the surface were defined. As discussed in the paper, such a synergy between the control schemes is seen as a viable alternative for performing industrial maneuvers that require force modulation between the tool held by the robot and the working surface.
Systems, Man, and Cybernetics, Part C: Applications and Reviews, IEEE Transactions on (Volume:42 , Issue: 6 )
Date of Publication: Nov. 2012