Title :
Flexible force-vision control for surface following using multiple cameras
Author :
Olsson, Tomas ; Johansson, Rolf ; Robertsson, Anders
Author_Institution :
Dept. of Autom. Control, Lund Inst. of Technol., Sweden
fDate :
28 Sept.-2 Oct. 2004
Abstract :
A flexible method for six-degree-of-freedom combined vision/force control for interaction with a stiff uncalibrated environment is presented. An edge-based rigid-body tracker is used in an observer-based controller, and combined with a six-degree-of-freedom force- or impedance controller. The effect of error sources such as image space measurement noise and calibration errors are considered. Finally, the method is validated in simulations and a surface following experiment using an industrial robot.
Keywords :
force control; industrial robots; mobile robots; robot vision; sensor fusion; spatial variables control; calibration error; edge-based rigid-body tracker; flexible force-vision control; image space measurement noise; impedance controller; industrial robot; multiple camera; observer-based controller; Automatic control; Cameras; Force control; Impedance; Orbital robotics; Position measurement; Robot sensing systems; Robustness; Service robots; Visual servoing;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389450
