| Título: | Using visual and force information in robot-robot cooperation to build metallic structures |
| Autores: |
Pomares Baeza, Jorge Gil Vázquez, Pablo Corrales Ramón, Juan Antonio García Gómez, Gabriel Jesús Puente Méndez, Santiago Timoteo Torres Medina, Fernando |
| Fecha: |
2010-05-18 2010-05-18 2009-03 |
| Publicador: | RUA Docencia |
| Fuente: |
 |
| Tipo: | info:eu-repo/semantics/article |
| Tema: |
Visual servoing Force control Sensor fusion Estimation algorithms Robot vision Ingeniería de Sistemas y Automática |
| Descripción: |
In this paper, a cooperative robot-robot approach to construct metallic structures is presented. In order to develop this task, a visual-force control system is proposed. The visual information is composed of an eye-in-hand camera, and a time of flight 3D camera. Both robots are equipped by a force sensor at the end-effector. In order to allow a human cooperate with both robots, an inertial motion capture system and an indoor localization system are employed. This multisensorial approach allows the robots to cooperatively construct the metallic structure in a flexible way and sharing the workspace with a human operator. This work was funded by the Spanish MEC project “Design, Implementation and Experimentation of Intelligent Manipulation Scenarios for Automatic Assembly and Disassembly Applications (DPI2005-06222)”and the FPU grant AP2005-1458. |
| Idioma: | Inglés |
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