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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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| Published in: | IEEE transactions on human-machine systems 2012-11, Vol.42 (6), p.1716-1729 |
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| Main Authors: | , , , , , |
| Format: | Article |
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| cited_by | cdi_FETCH-LOGICAL-c358t-fdfff2005a5ffc830f82a60b3c839aed70bf911ea2a6eb6e1f731d1f86364d863 |
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| cites | cdi_FETCH-LOGICAL-c358t-fdfff2005a5ffc830f82a60b3c839aed70bf911ea2a6eb6e1f731d1f86364d863 |
| container_end_page | 1729 |
| container_issue | 6 |
| container_start_page | 1716 |
| container_title | IEEE transactions on human-machine systems |
| container_volume | 42 |
| creator | Bonilla, I. Mendoza, M. Gonzalez-Galván, E. J. Chavez-Olivares, César Loredo-Flores, A. Reyes, F. |
| description | 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. |
| doi_str_mv | 10.1109/TSMCC.2012.2218235 |
| format | article |
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J. ; Chavez-Olivares, César ; Loredo-Flores, A. ; Reyes, F.</creator><creatorcontrib>Bonilla, I. ; Mendoza, M. ; Gonzalez-Galván, E. J. ; Chavez-Olivares, César ; Loredo-Flores, A. ; Reyes, F.</creatorcontrib><description>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. 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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</subject><ispartof>IEEE transactions on human-machine systems, 2012-11, Vol.42 (6), p.1716-1729</ispartof><rights>2014 INIST-CNRS</rights><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Nov 2012</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c358t-fdfff2005a5ffc830f82a60b3c839aed70bf911ea2a6eb6e1f731d1f86364d863</citedby><cites>FETCH-LOGICAL-c358t-fdfff2005a5ffc830f82a60b3c839aed70bf911ea2a6eb6e1f731d1f86364d863</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/6392449$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>314,776,780,27900,27901,54770</link.rule.ids><backlink>$$Uhttp://pascal-francis.inist.fr/vibad/index.php?action=getRecordDetail&idt=26818935$$DView record in Pascal Francis$$Hfree_for_read</backlink></links><search><creatorcontrib>Bonilla, I.</creatorcontrib><creatorcontrib>Mendoza, M.</creatorcontrib><creatorcontrib>Gonzalez-Galván, E. J.</creatorcontrib><creatorcontrib>Chavez-Olivares, César</creatorcontrib><creatorcontrib>Loredo-Flores, A.</creatorcontrib><creatorcontrib>Reyes, F.</creatorcontrib><title>Path-Tracking Maneuvers With Industrial Robot Manipulators Using Uncalibrated Vision and Impedance Control</title><title>IEEE transactions on human-machine systems</title><addtitle>TSMCC</addtitle><description>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.</description><subject>Applied sciences</subject><subject>Artificial intelligence</subject><subject>Automation</subject><subject>Cameras</subject><subject>Computer science; control theory; systems</subject><subject>Control system synthesis</subject><subject>Control theory. Systems</subject><subject>Drives</subject><subject>Exact sciences and technology</subject><subject>Impedance</subject><subject>Impedance control</subject><subject>Industrial robots</subject><subject>Linkage mechanisms, cams</subject><subject>Maneuvers</subject><subject>Manipulators</subject><subject>Manufacturing engineering</subject><subject>Mechanical engineering. Machine design</subject><subject>path tracking</subject><subject>Pattern recognition. Digital image processing. Computational geometry</subject><subject>Robot kinematics</subject><subject>Robot vision systems</subject><subject>Robotics</subject><subject>Robots</subject><subject>Service robots</subject><subject>Studies</subject><subject>Trajectories</subject><subject>vision</subject><issn>1094-6977</issn><issn>2168-2291</issn><issn>1558-2442</issn><issn>2168-2305</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2012</creationdate><recordtype>article</recordtype><recordid>eNpdkUFv2yAUx62plda1-wLbxdI0aRenPMAYHydrWyOlatUl2xFhG1pSB1zAlfrti5Ooh17giff7P8GPLPsCaAGA6sv13-umWWAEeIExcEzKD9kZlCUvMKX4JNWopgWrq-pj9imELUJAaU3Osu2tjA_F2svu0dj7_FpaNT0rH_L_Jj7kS9tPIXojh_zOtS7OfTNOg4wuIZswRza2k4NpvYyqz_-ZYJzNpe3z5W5UvbSdyhtno3fDRXaq5RDU5-N-nm1-_1o3V8Xq5s-y-bkqOlLyWOhea40RKmWpdccJ0hxLhlqS6lqqvkKtrgGUTKeqZQp0RaAHzRlhtE_refbjMHf07mlSIYqdCZ0ahvQ2NwUBBEpWUsYgod_eoVs3eZtuJyCJY5RXlCQKH6jOuxC80mL0Zif9iwAkZv1ir1_M-sVRfwp9P46WIQnSPqkw4S2JGQde77mvB84opd7ajNR4_qBX1mOPIA</recordid><startdate>20121101</startdate><enddate>20121101</enddate><creator>Bonilla, I.</creator><creator>Mendoza, M.</creator><creator>Gonzalez-Galván, E. J.</creator><creator>Chavez-Olivares, César</creator><creator>Loredo-Flores, A.</creator><creator>Reyes, F.</creator><general>IEEE</general><general>Institute of Electrical and Electronics Engineers</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>IQODW</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>F28</scope></search><sort><creationdate>20121101</creationdate><title>Path-Tracking Maneuvers With Industrial Robot Manipulators Using Uncalibrated Vision and Impedance Control</title><author>Bonilla, I. ; Mendoza, M. ; Gonzalez-Galván, E. J. ; Chavez-Olivares, César ; Loredo-Flores, A. ; Reyes, F.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c358t-fdfff2005a5ffc830f82a60b3c839aed70bf911ea2a6eb6e1f731d1f86364d863</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2012</creationdate><topic>Applied sciences</topic><topic>Artificial intelligence</topic><topic>Automation</topic><topic>Cameras</topic><topic>Computer science; control theory; systems</topic><topic>Control system synthesis</topic><topic>Control theory. Systems</topic><topic>Drives</topic><topic>Exact sciences and technology</topic><topic>Impedance</topic><topic>Impedance control</topic><topic>Industrial robots</topic><topic>Linkage mechanisms, cams</topic><topic>Maneuvers</topic><topic>Manipulators</topic><topic>Manufacturing engineering</topic><topic>Mechanical engineering. Machine design</topic><topic>path tracking</topic><topic>Pattern recognition. Digital image processing. Computational geometry</topic><topic>Robot kinematics</topic><topic>Robot vision systems</topic><topic>Robotics</topic><topic>Robots</topic><topic>Service robots</topic><topic>Studies</topic><topic>Trajectories</topic><topic>vision</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Bonilla, I.</creatorcontrib><creatorcontrib>Mendoza, M.</creatorcontrib><creatorcontrib>Gonzalez-Galván, E. 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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.</abstract><cop>New-York, NY</cop><pub>IEEE</pub><doi>10.1109/TSMCC.2012.2218235</doi><tpages>14</tpages></addata></record> |
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| identifier | ISSN: 1094-6977 |
| ispartof | IEEE transactions on human-machine systems, 2012-11, Vol.42 (6), p.1716-1729 |
| issn | 1094-6977 2168-2291 1558-2442 2168-2305 |
| language | eng |
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| source | IEEE Electronic Library (IEL) Journals |
| 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 |
| title | Path-Tracking Maneuvers With Industrial Robot Manipulators Using Uncalibrated Vision and Impedance Control |
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