Flexible Force-Vision Control for Surface Following using Multiple Cameras
(2004) 1. p.789-803- Abstract
- A flexible method for six-degree-of-freedom combined vision/force control for interaction with a stiff uncalibrated environment is presented. An edge-based rigidbody tracker is used in an observer-based controller, and combined with a six-degree-of-freedom force- or impedance controller. The effect of error sources such as image space measurement noise and calibration errors are considered. Finally, the method is validated in simulations and a surface following experiment using an industrial robot.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/536088
- author
- Olsson, Tomas LU ; Johansson, Rolf LU and Robertsson, Anders LU
- organization
- publishing date
- 2004
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- Proceedings. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. (IROS 2004).
- volume
- 1
- pages
- 789 - 803
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- external identifiers
-
- scopus:14044272832
- ISBN
- 0-7803-8463-6
- DOI
- 10.1109/IROS.2004.1389450
- project
- RobotLab LTH
- FlexAA
- language
- English
- LU publication?
- yes
- id
- 5fdd1cd4-be53-4f64-8c20-63ff0440ffc9 (old id 536088)
- date added to LUP
- 2016-04-04 12:04:31
- date last changed
- 2023-03-21 05:52:04
@inproceedings{5fdd1cd4-be53-4f64-8c20-63ff0440ffc9, abstract = {{A flexible method for six-degree-of-freedom combined vision/force control for interaction with a stiff uncalibrated environment is presented. An edge-based rigidbody tracker is used in an observer-based controller, and combined with a six-degree-of-freedom force- or impedance controller. The effect of error sources such as image space measurement noise and calibration errors are considered. Finally, the method is validated in simulations and a surface following experiment using an industrial robot.}}, author = {{Olsson, Tomas and Johansson, Rolf and Robertsson, Anders}}, booktitle = {{Proceedings. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. (IROS 2004).}}, isbn = {{0-7803-8463-6}}, language = {{eng}}, pages = {{789--803}}, publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}}, title = {{Flexible Force-Vision Control for Surface Following using Multiple Cameras}}, url = {{https://lup.lub.lu.se/search/files/5921435/625615.pdf}}, doi = {{10.1109/IROS.2004.1389450}}, volume = {{1}}, year = {{2004}}, }