Title :
Three dimensional object tracking using dual-drive control
Author :
Korzeniowski, Kelly A. ; Wolovich, William A.
Author_Institution :
Div. of Eng., Brown Univ., Providence, RI, USA
Abstract :
A robotic object-tracking algorithm that employs multiple controllers is outlined. The dual-drive force/velocity controller is used when the robot is in contact with an object, and the damping controller, Fcomply, is employed to move the robot on a specified trajectory. The algorithm has been successfully implemented on an IBM 7565 robot, equipped with strain gauges on its end effector. Dense data sets have been collected during surface tracking with the intention that this information be used to recognize various objects. These data sets have been used to recognize simple objects such as a box and a cylinder. The performance of the algorithm is not dependent on the orientation of an object. A telephone receiver was placed at different orientations in the workspace, and tracking was successfully demonstrated in all cases
Keywords :
computer vision; force control; image recognition; position control; robots; strain gauges; velocity control; 3D object tracking; Fcomply; IBM 7565 robot; box; cylinder; damping controller; dense data sets; dual-drive force/velocity controller; end effector; orientation-independent object recognition; robotic object-tracking algorithm; strain gauges; telephone receiver; Capacitive sensors; Control systems; Damping; End effectors; Force control; Force feedback; Force sensors; Object recognition; Real time systems; Robot sensing systems; Robotic assembly; Robots; Shape control; Telephony; Velocity control;
Conference_Titel :
Decision and Control, 1991., Proceedings of the 30th IEEE Conference on
Conference_Location :
Brighton
Print_ISBN :
0-7803-0450-0
DOI :
10.1109/CDC.1991.261794
