IEEE - Institute of Electrical and Electronics Engineers, Inc. - Combining eye-in-hand visual servoing and force control in robotic tasks using the task frame

Proceedings of IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems

Author(s): Baeten, J. ; Bruyninckx, H. ; De Schutter, J.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 1999
Conference Location: Taipei, Taiwan, Taiwan
Conference Date: 18 August 1999
Page(s): 141 - 146
ISBN (Paper): 0-7803-5801-5
DOI: 10.1109/MFI.1999.815979
Regular:

This paper shows how to use Mason's compliance frame or task frame to model, implement and execute robotic tasks which combine force control and visual servoing in an uncalibrated workspace. Both... View More

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