Path-Tracking Maneuvers With Industrial Robot Manipulators Using Uncalibrated Vision and Impedance Control

This paper presents an interaction control strategy for industrial robot manipulators which consists of the combination of a calibration-free, vision-based control method with an impedance-control approach. The vision-based, robot control method known as camera-space manipulation is used to generate...

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Bibliographic Details
Published in:IEEE transactions on human-machine systems 2012-11, Vol.42 (6), p.1716-1729
Main Authors: Bonilla, I., Mendoza, M., Gonzalez-Galván, E. J., Chavez-Olivares, César, Loredo-Flores, A., Reyes, F.
Format: Article
Language:English
Subjects:
Applied sciences
Artificial intelligence
Automation
Cameras
Computer science
control theory
systems
Control system synthesis
Control theory. Systems
Drives
Exact sciences and technology
Impedance
Impedance control
Industrial robots
Linkage mechanisms, cams
Maneuvers
Manipulators
Manufacturing engineering
Mechanical engineering. Machine design
path tracking
Pattern recognition. Digital image processing. Computational geometry
Robot kinematics
Robot vision systems
Robotics
Robots
Service robots
Studies
Trajectories
vision
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Summary:This paper presents an interaction control strategy for industrial robot manipulators which consists of the combination of a calibration-free, vision-based control method with an impedance-control approach. The vision-based, robot control method known as camera-space manipulation is used to generate a given, previously defined trajectory over an arbitrary surface. Then, a kinematic impedance controller is implemented in order to regulate the interaction forces generated by the contact between the robot end-effector and the work surface where the trajectory is traced. The paper presents experimental evidence on how the vision-force sensory fusion is applied to a path-tracking task, using a Fanuc M16-iB industrial robot equipped with a force/torque sensor at the wrist. In this task, several levels of interaction force between the robot end-effector and the surface were defined. As discussed in the paper, such a synergy between the control schemes is seen as a viable alternative for performing industrial maneuvers that require force modulation between the tool held by the robot and the working surface.
ISSN:1094-6977
2168-2291
1558-2442
2168-2305
DOI:10.1109/TSMCC.2012.2218235