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

fYear

2008

fDate

25-27 June 2008

Firstpage

977

Lastpage

982

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/WCICA.2008.4593053

Filename

4593053