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Robot guidance by estimating the force-image interaction matrix

Please use this identifier to cite or link to this item: http://hdl.handle.net/10045/3257
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dc.contributorAutomática, Robótica y Visión Artificialen
dc.contributor.authorGarcia, Gabriel J.-
dc.contributor.authorPomares, Jorge-
dc.contributor.authorTorres, Fernando-
dc.contributor.otherUniversidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señalen
dc.date.accessioned2007-11-26T11:08:05Z-
dc.date.available2007-11-26T11:08:05Z-
dc.date.issued2007-11-26T11:08:05Z-
dc.identifier.urihttp://hdl.handle.net/10045/3257-
dc.descriptionComunicación 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, Spainen
dc.description.abstractThis 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.en
dc.description.sponsorshipThis work was funded by the Spanish MEC project “Diseño, implementación y experimentación de escenarios de manipulación inteligentes para aplicaciones de ensamblado y desensamblado automático”.en
dc.languageengen
dc.subjectVisual servoingen
dc.subjectForce controlen
dc.subjectSensor fusionen
dc.subjectEstimation algorithmsen
dc.subjectRobot visionen
dc.subject.otherIngeniería de Sistemas y Automáticaen
dc.titleRobot guidance by estimating the force-image interaction matrixen
dc.typeOtheren
dc.peerreviewedsien
dc.rights.accessRightsinfo:eu-repo/semantics/openAccess-
Appears in Collections:INV - AUROVA - Comunicaciones a Congresos Internacionales
INV - HURO - Comunicaciones a Congresos, Conferencias, etc.

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