Integrated Visual Servoing and Force Control The Task Frame Approach /

• Main Authors: de Schutter, Joris (Author, http://id.loc.gov/vocabulary/relators/aut), Baeten, Johan (http://id.loc.gov/vocabulary/relators/aut)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Berlin, Heidelberg : Springer Berlin Heidelberg : Imprint: Springer, 2004.
• Edition: 1st ed. 2004.
• Series: Springer Tracts in Advanced Robotics, 8
• Subjects: Robotics.; Automation.; Control engineering.; Mechatronics.; Artificial intelligence.; Optical data processing.; Robotics and Automation.; Control, Robotics, Mechatronics.; Artificial Intelligence.; Computer Imaging, Vision, Pattern Recognition and Graphics.

Sight and touch are two elementary, but highly complementary senses - for humans as well as for robots. This monograph develops an integrated vision/force control approach for robotics, combining the advantages of both types of sensors while overcoming their individual drawbacks. It shows how integr...

Table of Contents:

• Introduction
• Literature survey
• Framework
• Classification
• Visual Servoing: a 3D Alignment Task
• Planar Contour Following of Continuous Curves
• Planar Contour Following at Corners
• Additional Experiments
• Conclusion.