Abstract
This paper describes a new technique called Learning Control for solving the visual servo control problem incorporate with force information. The task is to control force and visual parameters simultaneously, such as a 3-degree of freedom task which consists of a target position and a specified touching force. This technique estimates the combined Jacobian from the robot motion and the force information. The Jacobian is used to determine the direction for updating the command positions of the robot arm. A robot arm, with a CCD camera and a force sensor mounted on the robot hand, is used to evaluate the technique.