Model Based Position-Force-Vision Sensor Fusion for Robot Compliant Motion Control

This paper shows how multi sensor fusion with position, force and vision sensors can help to improve robot control. It shows how Bayesian filtering helps in the fusion and how the extra information from fusing the sensors can be used in different control aspects. The paper gives an overview of incre...

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Bibliographic Details
Main Authors: Smits, Ruben, Bruyninckx, Herman, Meeussen, Wim, Baeten, Johan, Slaets, Peter
Format: Conference Proceeding
Language:English
Subjects:
Feeds
Force control
Force sensors
Intelligent robots
Intelligent sensors
Motion control
Robot control
Robot sensing systems
Robot vision systems
Sensor fusion
Online Access:Request full text
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Description
Summary:This paper shows how multi sensor fusion with position, force and vision sensors can help to improve robot control. It shows how Bayesian filtering helps in the fusion and how the extra information from fusing the sensors can be used in different control aspects. The paper gives an overview of increasingly more complex control tasks, whose realization depend on increasingly more "high level" sensor fusion
DOI:10.1109/MFI.2006.265636