Comparison of combined vision and force control strategies for robot manipulators

In this paper, the problem of combined vision/force servo control for robot manipulator is addressed. Three different robot vision control strategies: position-based, image-based, and hybrid control are combined with an impedance-based force controller and a comparison of these three combined vision/force control methods is investigated for the first time, in the context of generic robot kinematic-based sensory-task-space control structure. Furthermore, the issue of contact surface parameters estimation is also investigated. Simulation results have demonstrated that all the above vision/force control strategies are comparable in terms of both the dynamic response and accuracy of positioning and force control.