Hybrid Vision/Force Control for Interaction with the Bottle-like Object
Lijun Han Hesheng Wang Weidong Chen Jingchuan Wang Jianjun Yuan Lijun Han Hesheng Wang Weidong Chen Jingchuan Wang Jianjun Yuan
This study proposes a hybrid vision/force control scheme for interaction with the inner surface of the bottle-like object. Based on the geometry of the object, a new generalized constraint called the bottleneck (BN) constraint is proposed, which ensures the tool passes through a fixed 3-D region and avoid collisions with the boundary of the region. To realize the hybrid vision/force control under ...