Adaptive hybrid visual servoing/force control in unknown environment

@inproceedings{Hosoda1996AdaptiveHV,
  title={Adaptive hybrid visual servoing/force control in unknown environment},
  author={Koh Hosoda and Katsuji Igarashi and Minoru Asada},
  booktitle={IROS},
  year={1996}
}
This paper describes an adaptive hybrid visual servoing/force controller to realize visual servoing while the manipulator exerts contract force on a surface. The proposed controller has a hybrid structure of visual servoing control and force control. Because it has an on-line estimator for the parameters of the cameramanipulator system and the one for the parameters of the unknown constraint surface, it only needs a priori knowledge on the manipulator kinematics and nothing any more. First, we… CONTINUE READING
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