Adaptive visual-force control in unknown workspaces

Please use this identifier to cite or link to this item:
Información del item - Informació de l'item - Item information
Title: Adaptive visual-force control in unknown workspaces
Authors: Pomares, Jorge | Torres, Fernando | Payá Pérez, Laura
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: Force control | Image-based control | Autocalibration
Knowledge Area: Ingeniería de Sistemas y Automática
Issue Date: 2005
Publisher: INSTICC Press
Citation: POMARES BAEZA, Jorge; TORRES MEDINA, Fernando; PAYÁ PÉREZ, Laura. "Adaptive visual-force control in unknown workspaces". En: ICINCO 2005, Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics : Barcelona, Spain, September 14-17, 2005. Setúbal : INSTICC Press, 2005. Vol. II, Robotics and Automation. ISBN 972-8865-30-9, pp. 196-201
Abstract: This paper proposes the definition of a new adaptive system that combines visual and force information. At each moment, the proportion of information used from each sensor is variable depending on the adequacy of each sensor to control the task. The sensorial information obtained is processed to allow the use of both sensors for controlling the robot and avoiding situations in which the control actions are contradictory. Although the visual servoing systems have certain robustness with respect to calibration errors, when the image-based control systems are combined with force control we must accurately know the intrinsic parameters. For this purpose an adaptive approach is proposed which updates the intrinsic parameters during the task.
ISBN: 972-8865-30-9
Language: eng
Type: info:eu-repo/semantics/bookPart
Peer Review: si
Appears in Collections:INV - AUROVA - Comunicaciones a Congresos Internacionales
INV - HURO - Comunicaciones a Congresos, Conferencias, etc.

Files in This Item:
Files in This Item:
File Description SizeFormat 
ThumbnailICINCO2005JPomares.pdf424,62 kBAdobe PDFOpen Preview

Items in RUA are protected by copyright, with all rights reserved, unless otherwise indicated.