A dynamic and uncalibrated method to visually servo-control elastic deformations by fully-constrained robotic grippers

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5 Citations (Scopus)

Abstract

In this paper, we address the set-point deformation control of elastic objects by fully-constrained grippers. We propose an uncalibrated Lyapunov-based algorithm that iteratively estimates the deformation Jacobian matrix, with no prior knowledge of the deformation and camera models. With this new method we show how, by combining pose information of the grippers with several visual measurements, we can independently control elastic deformations of unknown objects. We report experiments with a 6-DOF robot manipulator to validate this control approach.
Original languageEnglish
Article number6907509
Pages (from-to)4457-4462
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
DOIs
Publication statusPublished - 1 Jan 2014
Externally publishedYes
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong Convention and Exhibition Center, Hong Kong, Hong Kong
Duration: 31 May 20147 Jun 2014

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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