Experimental validation of a simple architecture for force/torque and vision control in a 6-dof industrial robot.
Basilio BonaCosimo GrecoTommaso CalvelliPublished in: IROS (2003)
Keyphrases
- position control
- robotic manipulator
- end effector
- force control
- vision system
- control scheme
- control architecture
- control system
- control strategies
- visual servoing
- robot arm
- impedance control
- robotic systems
- real time
- closed loop
- robotic arm
- degrees of freedom
- control strategy
- master slave
- robot manipulators
- contact force
- sagittal plane
- external forces
- force feedback
- computer vision
- feedback loop
- mobile robot
- robot control
- induction motor
- manipulation tasks
- pid controller
- dc motor
- management system
- force sensing
- joint space
- tactile sensing
- hand eye
- visually guided
- robotic platform
- optimal control
- vision guided
- motion planning
- inverted pendulum
- industrial applications
- control signals
- inverse kinematics