DocumentCode :
2139542
Title :
Transforming sensor data to increase robustness in the control of calibration-free robots
Author :
Maryniak, André ; Graefe, Volker
Author_Institution :
Inst. of Meas. Sci., Bundeswehr Univ. Munich, Neubiberg, Germany
Volume :
3
fYear :
1998
fDate :
13-17 Oct 1998
Firstpage :
1834
Abstract :
In vision-based robot control typically more sensor data are available than the minimum necessary for computing robot control commands. We propose an approach for utilizing the redundant sensor data to improve the robustness of robot control. The key point is that the sensor data space is transformed into a space of lower dimensionality before computing the robot control commands, thus avoiding to solve an over-determined system of equations. Compared to the rather simple alternative method of truncating measurements it has the advantage that, in the interest of robustness, it takes into account all available measurements. The approach has been evaluated in real-world manipulation experiments with a calibration-free robot. It has proven to be suitable for a real-time implementation and has led to a more robust control than the alternative approach
Keywords :
redundancy; robot vision; robust control; calibration-free robots; real-world manipulation experiments; redundant sensor data; robustness; sensor data transformation; vision-based robot control; Calibration; Cameras; Grippers; Robot control; Robot kinematics; Robot sensing systems; Robot vision systems; Robotics and automation; Robust control; Sensor systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
Type :
conf
DOI :
10.1109/IROS.1998.724863
Filename :
724863
Link To Document :
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