Hybrid vision/force control at corners in planar robotic-contour following

The accuracy and execution speed of a force controlled contour-following task is limited if the shape of the workpiece is unknown. This is even more true when the workpiece contour contains corners. The paper shows how a hybrid vision/force control approach at corners in planar-contour following res...

Full description

Saved in:
Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics 2002-06, Vol.7 (2), p.143-151
Main Authors: Baeten, J., De Schutter, J.
Format: Article
Language:English
Subjects:
Algorithms
Calibration
Cameras
Clocks
Computational methods
Corners
End effectors
Force control
Force sensors
Image processing
Machine vision
Mathematical models
On-line systems
Optical distortion
Parameter estimation
Robot vision systems
Robotics
Sensor data fusion
Shape
Shape control
Tasks
Vision
Visual servoing
Workpieces
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:The accuracy and execution speed of a force controlled contour-following task is limited if the shape of the workpiece is unknown. This is even more true when the workpiece contour contains corners. The paper shows how a hybrid vision/force control approach at corners in planar-contour following results in a more accurate and faster task execution. The vision system is used to measure online the contour and to watch out for corners. The edge is correctly located by compensating the compliance of the tool/camera setup which affects the contour measurement. A simple corner-detection algorithm is presented. Once a corner is detected, the finite-state controller is activated to take the corner in the best conditions. Experimental results are presented to validate the approach.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2002.1011251