| Título: | A Robust approach to control robot manipulators by fusing visual and force information |
| Autores: |
Pomares Baeza, Jorge García Gómez, Gabriel Jesús Torres Medina, Fernando |
| Fecha: |
2007-11-02 2007-11-02 2006 2007-01-19 |
| Publicador: | RUA Docencia |
| Fuente: |
 |
| Tipo: | info:eu-repo/semantics/article |
| Tema: |
Movement flow Force control Visual-force control Impedance control 2D visual servoing Intrinsics-free control Ingeniería de Sistemas y Automática |
| Descripción: |
In this paper, a method to combine visual and force information using the
information obtained from the movement flow-based visual servoing system is proposed. This
method allows not only to achieve a given desired position but also to specify the trajectory
that the robot will follow from its initial position to its final one in the 3D space. This paper
also extends the visual servoing system in order to increase the robustness when errors in the
camera calibration parameters appear. Experiments using an eye-in-hand robotic system
demonstrate the correct behaviour when important errors exist in the camera intrinsic
parameters. After the description of this strategy, we then describe its application to an
insertion task to be performed by the robotic system in which the joint use of visual and force
information is required. To combine both sensorial systems, a position-based impedancecontrol
system is implemented, which modifies the trajectory generated by the visual system
depending on the robot’s interaction with its setting. This modification is performed without
knowledge of the exact camera calibration parameters. Furthermore, the visual-force approach
based on impedance control does not require having previous knowledge about the contact
geometry. 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) and by the project GV05/007: “Diseño y experimentación de estrategias de control visual-fuerza para sistemas flexibles de manipulación”. |
| Idioma: | Inglés |
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