Visual – force control and structured light fusion to improve recognition of discontinuities in surfaces

Please use this identifier to cite or link to this item: http://hdl.handle.net/10045/2912
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Title: Visual – force control and structured light fusion to improve recognition of discontinuities in surfaces
Authors: Pomares, Jorge | Gil, Pablo | Garcia, Gabriel J. | 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-force control | Recognition
Knowledge Area: Ingeniería de Sistemas y Automática
Issue Date: 2006
Publisher: IEEE
Citation: POMARES BAEZA, Jorge, et al. "Visual – force control and structured light fusion to improve recognition of discontinuities in surfaces". En: IEEE Conference on Emerging Technologies and Factory Automation, ETFA '06 : Prague, Czech Republic, September 20-22, 2006. Piscataway, NJ : IEEE, 2006. ISBN 1-4244-0681-1, pp. 1044-1050
Abstract: This paper describes a method to detect changes in given surfaces tracked by the robot end-effector. To do so, first an approach to combine visual and force information is described. By filtering the interaction forces, a parameter which provides the probability of a change in the tracking surface is obtained. In order to obtain a more accurate determination of the change in the surface, information from a laser located at the robot end-effector is also employed. Therefore, a robust method for detecting surface discontinuities which employs force and visual information jointly with structured light is presented.
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” and by the project GV05/007: “Diseño y experimentación de estrategias de control visualfuerza para sistemas flexibles de manipulación”.
URI: http://hdl.handle.net/10045/2912
ISBN: 1-4244-0681-1
DOI: 10.1109/ETFA.2006.355350
Language: eng
Type: info:eu-repo/semantics/bookPart
Peer Review: si
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