3. Towards robot-vision-effort interaction

Simultaneous integration of the two means of perception and robot-vision-effort interaction are also topical.

In [23] , the authors propose the use of hybrid vision/force control for contour-following tasks. Indeed, the accuracy and execution speed of a contour-following task are limited when the shape of the part is unknown, to prevent contact loss or excessive contact forces.

This is also true if the part has corners.

The synthesis of a hybrid approach enhances precision and speed: the vision system is used to detect and measure contours and angles online.

In the industrial sector, Cerebellum offers an application combining the use of a robot and two sensors, vision and force. In the hydraulic control assembly application...