Combining force control and visual servoing for planar contour following

The limited bandwidth of sensor-based feedback control restricts the execution speed of a force con- trolled planar contour following task, if the shape and/or pose of the workpiece are unknown. This paper shows how feedforward control of the contour orientation, calculated on-line from an eye-in-hand camera image, results in a faster or more accurately executed task. However, keeping the contour in the camera field of view imposes an additional requirement on the controller which already has to maintain a force controlled contact. This double control problem is specified in the Task Frame formalism and executed in a hybrid position/force control environment. It is solved using the redundancy for rotation in the plane, which exists for rotationally symmetric (tracking) tools. The orientations of task and end effector frames can then be controlled independently. Experimental results are presented to validate the approach.

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