Force Control and Visual Servoing using Planar Surface Identification.
Tomas OlssonJohan BengtssonRolf JohanssonHenrik MalmPublished in: ICRA (2002)
Keyphrases
- visual servoing
- force control
- control law
- planar surfaces
- closed loop
- image based visual servoing
- control strategy
- control algorithm
- control system
- vision system
- mobile robot
- robot manipulators
- d scene
- stereo images
- perspective projection
- multiple views
- control scheme
- image pairs
- optimal control
- dynamical systems
- end effector
- robotic arm
- autonomous robots
- robot control
- depth images
- ground plane
- geometric constraints
- motion planning
- image space
- robot arm
- visual feedback
- real time
- mathematical model
- model free
- experimental data