A universal sensor control architecture considering robot dynamics

Author

Lange, Friedrich ; Hirzinger, Gerd

Author_Institution

Inst. of Robotics & Mechatronics, Deutsches Zentrum fur Luft- und Raumfahrt (DLR), Wessling, Germany

fYear

2001

fDate

2001

Firstpage

277

Lastpage

282

Abstract

The paper presents a dynamical sensor control architecture that allows robot arms to perform tasks that with conventional feedback of sensor data fail because of delays or deviations due to the robot dynamics. The architecture distinguishes between robot positional control and refinement of desired positions using vision and/or other sensors. Each of these aspects is designed without the knowledge of the other. Communication between sensors and robot control may be slow and asynchronous. Experiments show vision based control along a seen line at a speed of 0.7 m/s. Path deviations are about 0.6 mm.

Keywords

adaptive control; feedforward; force control; image sensors; manipulator dynamics; path planning; position control; sensor fusion; robot arms; robot dynamics; robot positional control; universal sensor control architecture; vision sensors; Control systems; Feedback loop; Force control; Image sensors; Laser feedback; Machine vision; Robot control; Robot sensing systems; Sensor systems; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Multisensor Fusion and Integration for Intelligent Systems, 2001. MFI 2001. International Conference on

Print_ISBN

3-00-008260-3

Type

conf

DOI

10.1109/MFI.2001.1013547

Filename

1013547