A Robust approach to control robot manipulators by fusing visual and force information
Por favor, use este identificador para citar o enlazar este ítem:
http://hdl.handle.net/10045/2700
Registro completo de metadatos
Campo DC | Valor | Idioma |
---|---|---|
dc.contributor.author | Pomares, Jorge | - |
dc.contributor.author | Garcia, Gabriel J. | - |
dc.contributor.author | Torres, Fernando | - |
dc.contributor.other | Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal | en |
dc.date.accessioned | 2007-11-02T11:32:18Z | - |
dc.date.available | 2007-11-02T11:32:18Z | - |
dc.date.created | 2006 | - |
dc.date.issued | 2007-01-19 | - |
dc.identifier.citation | POMARES BAEZA, Jorge; GARCÍA GÓMEZ, Gabriel Jesús; TORRES MEDINA, Fernando. "A Robust approach to control robot manipulators by fusing visual and force information". Journal of Intelligent and Robotic Systems. Vol. 48, No. 4 (Apr. 2007). ISSN 0921-0296, pp. 437-456 | en |
dc.identifier.issn | 0921-0296 | - |
dc.identifier.issn | 1573-0409 | - |
dc.identifier.uri | http://hdl.handle.net/10045/2700 | - |
dc.description.abstract | In this paper, a method to combine visual and force information using the information obtained from the movement flow-based visual servoing system is proposed. This method allows not only to achieve a given desired position but also to specify the trajectory that the robot will follow from its initial position to its final one in the 3D space. This paper also extends the visual servoing system in order to increase the robustness when errors in the camera calibration parameters appear. Experiments using an eye-in-hand robotic system demonstrate the correct behaviour when important errors exist in the camera intrinsic parameters. After the description of this strategy, we then describe its application to an insertion task to be performed by the robotic system in which the joint use of visual and force information is required. To combine both sensorial systems, a position-based impedancecontrol system is implemented, which modifies the trajectory generated by the visual system depending on the robot’s interaction with its setting. This modification is performed without knowledge of the exact camera calibration parameters. Furthermore, the visual-force approach based on impedance control does not require having previous knowledge about the contact geometry. | en |
dc.description.sponsorship | This work was funded by the Spanish MCYT project “Diseño, Implementación y Experimentación de Escenarios de Manipulación Inteligentes para Aplicaciones de Ensamblado y Desensamblado Automático” (DPI2005-06222) and by the project GV05/007: “Diseño y experimentación de estrategias de control visual-fuerza para sistemas flexibles de manipulación”. | en |
dc.language | eng | en |
dc.publisher | Springer Netherlands | en |
dc.rights | The original publication is available at www.springerlink.com | en |
dc.subject | Movement flow | en |
dc.subject | Force control | en |
dc.subject | Visual-force control | en |
dc.subject | Impedance control | en |
dc.subject | 2D visual servoing | en |
dc.subject | Intrinsics-free control | en |
dc.subject.other | Ingeniería de Sistemas y Automática | en |
dc.title | A Robust approach to control robot manipulators by fusing visual and force information | en |
dc.type | info:eu-repo/semantics/article | en |
dc.peerreviewed | si | en |
dc.identifier.doi | 10.1007/s10846-006-9106-9 | - |
dc.relation.publisherversion | http://dx.doi.org/10.1007/s10846-006-9106-9 | - |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | - |
Aparece en las colecciones: | INV - AUROVA - Artículos de Revistas INV - HURO - Artículos de Revistas |
Archivos en este ítem:
Archivo | Descripción | Tamaño | Formato | |
---|---|---|---|---|
JINT1972JPomares.pdf | 1,88 MB | Adobe PDF | Abrir Vista previa | |
Todos los documentos en RUA están protegidos por derechos de autor. Algunos derechos reservados.