Visual Servoing in a Prioritized Constraint-based Torque Control Framework

In this paper, we show that visual servoing tasks can be integrated into a prioritized constraint-based torque control framework. This framework can achieve real time control of robots performing strict prioritized motion and forces tasks. A null-space projector is used to combine the tasks with different priorities. The visual servoing is considered just another task formulated with constraints in the whole body control framework. Several relevant constraints (i.e., motion constraints, joint limits) are tested to evaluate the control framework. Further, we evaluate the proposed approach in typical industrial robotics applications: grasping of cylindrical objects, and two position/force control applications (Erasing and Peg-in-Hole).