2014 Volume 3 Issue 3 Pages 227-235
This paper proposes a force-based compliance control method utilizing visual information that can be integrated with a haptic system for motion navigation tasks. The force generated on the basis of useful image information of the tracked object is utilized to provide a response to the bilateral control system. An eye-to-hand approach is used to magnify the information from the vision sensor. The control strategy, image processing method, and integration techniques are elaborated upon in detail. Four experiments were conducted using different distances between the camera and object to validate the proposed integration method. The effectiveness of the proposed method was evaluated through a comparison with the conventional bilateral control method.
