Integration of vision/force robot control using automatic decision system intended for performing different successive tasks

Vision/force robot control could be divided into six types: pure position control, pure force control, traded control, shared control, Vision/guarded-force control and hybrid control. The most important questions during performing a task required vision/force control are: Which subspaces should be vision, command position or force controlled; How to define the most appropriate control mode for every part of different tasks and when the control system should switch from one control mode to another one. Answering these questions and defining the robot control structure is not always easy task especially for the inexperienced user. In this work an automatic decision system is suggested to define the most appropriate control mode for successive tasks and to reduce the human intervention during the execution of the task