Adaptive visual servoing and force control fusion to track surfaces

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Title: Adaptive visual servoing and force control fusion to track surfaces
Authors: Pomares, Jorge | Garcia, Gabriel J. | Payá Pérez, Laura | 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: Impedance control | Force control | Image based control | Visual servoing | Adaptive control | Sensor fusion
Knowledge Area: Ingeniería de Sistemas y Automática
Issue Date: Jan-2006
Publisher: WSEAS
Citation: POMARES BAEZA, Jorge, et al. “Adaptive visual servoing and force control fusion to track surfaces”. WSEAS Transactions on Systems. Vol. 5, Issue 1 (Jan. 2006). ISSN 1109-2777, pp. 25-32
Abstract: This paper describes an adaptive and autocalibrated method to track surfaces. To do so, a non time dependent impedance control system is proposed. This method fuses visual and force information to track a given trajectory maintaining the contact with the surface. The main contribution of the visual servoing approach employed by the impedance control system is the possibility of carrying out the tracking of the trajectory, avoiding time restrictions and without previous knowledge of the intrinsic parameters employed. An adaptive stochastic approach is defined to increase or decrease the tracking speed depending on the impedance control system behaviour.
Sponsor: This work was funded by the Spanish project GV05/007: “Diseño y experimentación de estrategias de control visual-fuerza para sistemas flexibles de manipulación”.
ISSN: 1109-2777
Language: eng
Type: info:eu-repo/semantics/article
Peer Review: si
Appears in Collections:INV - AUROVA - Artículos de Revistas
INV - HURO - Artículos de Revistas

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