Improved Force Control Through Visual Servoing

  title={Improved Force Control Through Visual Servoing},
  author={Bradley J. Nelson and J. Daniel Morrow and Pradeep K. Khosla},
Force controlled manipulation is a common technique for compliantly contacting and manipulating uncertain environments. Visual servoing is effective for reducing alignment uncertainties between objects using imprecisely calibrated camera-lens-manipulator systems. These two types of manipulator feedback, force and vision, represent complementary sensing modalities; visual feedback provides information over a relatively large area of the workspace without requiring contact with the environment… CONTINUE READING
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