{'fraction_non_alphanumeric': 0.01291248206599713, 'fraction_numerical': 0.0, 'mean_word_length': 4.915254237288136, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Vision/force based robot manipulator servo control for uncertain plane surface tracking

In order to improve the flexibility and applying domain of robot manipulator, a method for uncertain plane surface tracing based on vision and force sensing is proposed. A standby stereo vision system is employed to estimate the normal direction of the plane surface and to control the end-effectorpsilas motions which are parallel to the plane surface. A force sensor is used to acquire the contact force information between the end-motion component which is vertical to the plane surface. This approach is validated by simulation with the robot toolbox for MATLAB. It is shown that the method is effective.