Improving detection of surface discontinuities in visual-force control systems
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http://hdl.handle.net/10045/10127
| Title: | Improving detection of surface discontinuities in visual-force control systems |
|---|---|
| Authors: | Pomares, Jorge | Gil, Pablo | Garcia, Gabriel J. | Sebastián y Zúñiga, José María | 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: | Surface discontinuity recognition | Visual-force fusion | Visual robot guidance |
| Knowledge Area: | Ingeniería de Sistemas y Automática |
| Date Created: | 28-Jul-2006 |
| Issue Date: | 1-Oct-2008 |
| Publisher: | Elsevier |
| Citation: | POMARES BAEZA, Jorge, et al. "Improving detection of surface discontinuities in visual-force control systems". Image and Vision Computing. Vol. 26, Issue 10 (Oct. 2008). ISSN 0262-8856, pp. 1435-1447 |
| Abstract: | In this paper, a new approach to detect surface discontinuities in a visual–force control task is described. A task which consists in tracking a surface using visual-force information is shown. In this task, in order to reposition the robot tool with respect to the surface it is necessary to determine the surface discontinuities. This paper describes a new method to detect surface discontinuities employing sensorial information obtained from a force sensor, a camera and structured light. This method has proved to be more robust than previous systems even in situations where high frictions occur. |
| Sponsor: | 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). |
| URI: | http://hdl.handle.net/10045/10127 |
| ISSN: | 0262-8856 (Print) | 1872-8138 (Online) |
| DOI: | 10.1016/j.imavis.2008.01.007 |
| Language: | eng |
| Type: | info:eu-repo/semantics/article |
| Peer Review: | si |
| Publisher version: | http://dx.doi.org/10.1016/j.imavis.2008.01.007 |
| Appears in Collections: | INV - AUROVA - Artículos de Revistas INV - HURO - Artículos de Revistas |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
 Improvingdetectionofsurfacesdiscontinuites.pdf | Versión final (acceso restringido) | 1,14 MB | Adobe PDF | Open Request a copy |
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