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Adaptive hybrid control for visual and force servoing in an unknown environment

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3 Author(s)
Hosoda, K. ; Adaptive Machine Syst., Osaka Univ., Japan ; Igarashi, K. ; Asada, M.

An adaptive robot controller is proposed to achieve a contacting task with an unknown environment, while the robot is visually guided. Since the proposed controller has online estimators for the parameters of the camera-manipulator system and the unknown constraint surface, the controller needs no a priori knowledge besides the manipulator kinematics. Experimental results validate the proposed scheme

Published in:

Robotics & Automation Magazine, IEEE  (Volume:5 ,  Issue: 4 )