Title :
Vision/force based robot manipulator servo control for uncertain plane surface tracking
Author :
Qiu, LianKui ; Zhang, Haitao ; Gao, Wei ; Ge, Yunjian
Author_Institution :
Dept. of Autom., Henan Univ. of Sci. & Technol., Luoyang
Abstract :
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.
Keywords :
end effectors; force sensors; servomechanisms; stereo image processing; visual servoing; MATLAB; end-effector motion; end-motion component; force sensing; force sensor; robot manipulator servo control; robot toolbox; stereo vision system; uncertain plane surface tracking; vision sensing; Control systems; Force sensors; MATLAB; Manipulators; Motion control; Motion estimation; Robot sensing systems; Robot vision systems; Servosystems; Stereo vision; visual servoing force control surface tracing;
Conference_Titel :
Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on
Conference_Location :
Chongqing
Print_ISBN :
978-1-4244-2113-8
Electronic_ISBN :
978-1-4244-2114-5
DOI :
10.1109/WCICA.2008.4593053
