A Framework for Force and Visual Control of Robot Manipulators

  • Vincenzo Lippiello
  • Bruno Siciliano
  • Luigi Villani
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 66)


A framework for force and visual control of robot manipulators in contact with a partially known environment is proposed. The environment is modelled as a rigid object of known geometry but of unknown and time-varying pose. An algorithm for online estimation of the object pose is adopted, based on visual data as well as on force measurements. This information is used by a force/position controller. The resulting control scheme has a inner/outer structure where the outer loop performs pose estimation and the inner loop is devoted to interaction control.


Extend Kalman Filter Outer Loop Robot Manipulator Impedance Control Visual Servoing 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Vincenzo Lippiello
    • 1
  • Bruno Siciliano
    • 1
  • Luigi Villani
    • 1
  1. 1.PRISMA Lab, Dipartimento di Informatica e SistemisticaUniversità degli Studi di Napoli Federico IINapoliItaly

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