Impedance Based Combination of Visual and Force Control

  title={Impedance Based Combination of Visual and Force Control},
  author={Guillaume Morel and Ezio Malis and Sylvie Boudet},
In this paper. we propose a simple and efficient control algorithm that combines visual servo control and force feedback within the impedance control approach. The Control scheme involves, at the low level, a position based impedance controller with an external force sensor feedback loop. Thc reference trajectory fed to this impedance controller is generated on line by a vision based control loop. In spite of its simplicity, this approach provides satisfactory experimental behavior. Peg in hole… CONTINUE READING
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