Robot guidance by estimating the force-image interaction matrix

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Title: Robot guidance by estimating the force-image interaction matrix
Authors: Garcia, Gabriel J. | Pomares, Jorge | Torres, Fernando
Research Group/s: Automática, Robótica y Visión Artificial
Center, Department or Service: Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal
Keywords: Visual servoing | Force control | Sensor fusion | Estimation algorithms | Robot vision
Knowledge Area: Ingeniería de Sistemas y Automática
Issue Date: 26-Nov-2007
Abstract: This paper describes an uncalibrated visual-force control system which does not require any kinematic calibration to develop the task. An important aspect of these kinds of control systems is the necessity to maintain the coherence between the control actions obtained from each sensorial system. To do so, the paper proposes to modify the image trajectory from the information obtained from the force sensor by using the concept of force-image interaction matrix. This matrix relates changes in the image space with changes in the interaction forces. In order to estimate the value of this matrix this paper suggests the use of a Gauss-Newton method.
Description: Comunicación presentada en IFAC International Workshops Intelligent Assembly and Disassembly (IAD'07), Intelligent Manufacturing Systems (IMS'07), 23-25 May 2007, Campus of San Vicente del Raspeig, Alicante, Spain
Sponsor: This work was funded by the Spanish MEC project “Diseño, implementación y experimentación de escenarios de manipulación inteligentes para aplicaciones de ensamblado y desensamblado automático”.
Language: eng
Type: Other
Peer Review: si
Appears in Collections:INV - AUROVA - Comunicaciones a Congresos Internacionales
INV - HURO - Comunicaciones a Congresos, Conferencias, etc.

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