Control in Robotics and Automation

214 CHAPTER 6 / FEEDBACK CONTROL WITH FORCE AND VISUAL SENSOR FUSION

robotic manipulation tasks. By monitoring the resolvability of the two sensing modes with

respect to the task, the information provided by the disparate sensors can be seamlessly

assimilated during task execution. A nonlinear force-vision servoing algorithm that uses

force and vision resolvability to switch between sensing modes demonstrates the advantages

of the assimilation technique. Contact transitions between a stiff manipulator and rigid

environment, a system configuration that easily becomes unstable when force control alone

is used, are robustly achieved. Experimental results show that the nonlinear controller is able

to satisfy simultaneously the conflicting task requirements of fast approach velocities,

maintaining stability, minimizing impact forces, and suppressing bounce between contact

surfaces. The proper assimilation of force and vision feedback is the key to the success of this

strategy.

REFERENCES

[1] R. C. Smith and P. Cheeseman. On the representation and estimation of spatial uncertainty. Int. J. Robot. Res.

5(4):56-68, 1986.

[2] H. F. Durrant-Whyte. hTtegration. Coordination and Control of Multi-Sensor Robot Systems. Kluwer Academic

Publishers, Boston, 1988.

[3] J. M. Richardson and K. A. Marsh. Fusion of multisensor data. Int. J. Robot. Res. 7(6):78-96, 1988.

[4] G. D. Hager. Task-Directed Sensor Fusion and Planning--A Computational Approach, Kluwer Academic

Publishers, 1990.

[5] R. Jain. Environment models and information assimilation. Tech. Rept. RJ 6866 (65692), IBM, Yorktown

Heights, NY, 1989.

[6] B. Nelson and P. K. Khosla. Integrating sensor placement and visual tracking strategies. In Experimental

Robotics HI. The Third hTternational Symposium, Kyoto, October 28 -30, 1993, eds. T. Yoshikawa and F.

Miyazaki. Springer-Verlag, London, 1994, pp. 169-181.

[7] B. J. Nelson and P. K. Khosla. The resolvability ellipsoid for visual servoing. Proceedings of the 1994

Conference on Computer Vision and Pattern Recognition ( CVPR94), 1994, pp. 829-832.

[8] B.J. Nelson and P. K. Khosla. Visually servoed manipulation using an active camera. Proceedings Thirty-Third

Annual Alh, rton Conference on (~kmmmnication, Control, and Comput#1,~. University of Illinois at Urbana-

Champaign, Oct. 4- 6, 1995.

[9] D. E. Whitney. Historical perspective and state of the art on robot force control. Proceedings 1985 International

Conference on Robotics and Automation. IEEE, New York, 1985, pp. 262 268.

[10] N. Hogan. Impedance control: An approach to manipulation, Parts I-Ill. ASME J. Dyn. Syst. Meas. Control

107(1):1-24, 1985.

[11] M. H. Raibert and J. J. Craig. llybrid position/force control of manipulators. ASME J. Dyn. Syst. Meas.

Control 103(2):126-133, 1981.

[12] T. Yoshikawa. Dynamic hybrid position/force control of robot manipulators .... description of hand constraints

and calculation of joint driving force. IEEE J. Robot. Automat. 3(5):386-392, 1987.

[13] R. A. Volpe and P. K. Khosla. Experimental verification of a strategy for impact control. Proceedings 1991

IEEE International Conference on Robotics and Automation. IEEE, New York, 1991, pp. 1854-1860.

[14] C. An and J. Hollerbach. Dynamic stability issues in force control of manipulators. Proceedings 1987

hTternational Conference on Robotics and Automation. IEEE, New York, 1987, pp. 860-896.

[15] S. Eppinger and W. Seering. Understanding bandwidth limitations on robot force control. Proceedings 1987

International Conference on Robotics and Automation. IEEE, New York, 1987, pp. 904-909.

[16] J. M. Hyde and M. R. Cutkosky. Contact transition: an experimental study. Proceedings 1993 International

Conference on Robotics and Automation. IEEE, New York, 1993, pp. 363-368.

[17] N. Hogan. Stable execution of contact tasks using impedance control. Proceedings 1987 International

Conference on Robotics and Automation. IEEE, New York, 1987, pp. 1047-1054.

[18] H. Kazerooni. Robust, non-linear impedance control for robot manipulators. Proceedings 1987 International

Conference on Robotics and Automation. IEEE, New York, 1987, pp. 741-750.

[19] O. Khatib and J. Burdick. Motion and force control for robot manipulators. Proceedings 1986 International

Conference on Robotics and Automation. IEEE, New York, 1986, pp. 1381-1386.

[20] H. P. Qian and J. De Schutter. Introducing active linear and nonlinear damping to enable stable high gain