A generalised proportional-derivative force/vision controller for torque-driven planar robotic manipulators

In this paper, a family of hybrid control algorithms is presented; where it is merged a free camera-calibration image-based control scheme and a direct force controller, both with the same priority level. The aim of this generalised hybrid controller is to regulate the robotenvironment interaction into a two-dimensional task-space. The design of the proposed control structure takes into account most of the dynamic e © 2020 Institute of Information Theory and Automation of The Czech Academy of Sciences. All rights reserved.

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