Visual compliance: task-directed visual servo control
- 1 June 1994
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Robotics and Automation
- Vol. 10 (3), 334-342
- https://doi.org/10.1109/70.294208
Abstract
In this paper we introduce visual compliance, a new vision-based control schemethat lends itself to task-level specification of manipulation goals. Visual complianceis effected by a hybrid vision/position control structure. Specifically, the two degreesof freedom parallel to the image plane of a supervisory camera are controlled usingvisual feedback, and the remaining degree of freedom (perpendicular to the camera imageplane) is controlled using position feedback provided by the robot...Keywords
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