MANIPULATION
Adaptive hybrid control for visual and force servoing in an unknown environment
Koh Hosoda, K. Igarashi, Minoru Asada
- Year
- 1998
- Citations
- 80
Abstract
An adaptive robot controller is proposed to achieve a contacting task with an unknown environment, while the robot is visually guided. Since the proposed controller has online estimators for the parameters of the camera-manipulator system and the unknown constraint surface, the controller needs no a priori knowledge besides the manipulator kinematics. Experimental results validate the proposed scheme.
Keywords
Visual servoingController (irrigation)KinematicsRobotComputer scienceAdaptive controlA priori and a posterioriControl theory (sociology)Task (project management)Constraint (computer-aided design)
Related papers
OTHER
📊 26,957 cites
Statistical Learning Theory
Yuhai Wu, Vladimir Vapnik
1999
PERCEPTION
📊 22,245 cites
Artificial intelligence: a modern approach
1995
OTHER
📊 18,993 cites
Applied Nonlinear Control
Jean-Jacques Slotine, Weiping Li
1991
SWARM
📊 14,853 cites
A new optimizer using particle swarm theory
R.C. Eberhart, James Kennedy
2002