High-Speed Visual Robot Control Using an Optimal Linearizing Intensity-Based Filtering Approach
(2006) 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems p.1212-1217- Abstract
- Many contact operations in robotics require accurate positioning, which is made difficult by the presence of rapidly varying interaction forces and compliances in gear boxes and links. In order to compensate for such effects, rapid feedback from the measured tool position in several degrees of freedom is needed. This paper presents a dynamic visual tracking technique based directly on intensity measurements in the image, which can be used to obtain state estimates at a very high rate, and with very short input-output latency. Methods for analysis of the stability and sensitivity to disturbances are presented, and an improved version for better disturbance suppression of illumination variations and noise is developed. Positioning... (More)
- Many contact operations in robotics require accurate positioning, which is made difficult by the presence of rapidly varying interaction forces and compliances in gear boxes and links. In order to compensate for such effects, rapid feedback from the measured tool position in several degrees of freedom is needed. This paper presents a dynamic visual tracking technique based directly on intensity measurements in the image, which can be used to obtain state estimates at a very high rate, and with very short input-output latency. Methods for analysis of the stability and sensitivity to disturbances are presented, and an improved version for better disturbance suppression of illumination variations and noise is developed. Positioning experiments using an industrial robot with camera feedback at 250 Hz are used to validate the approach (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/616970
- author
- Olsson, Tomas LU ; Johansson, Rolf LU and Robertsson, Anders LU
- organization
- publishing date
- 2006
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- keywords
- camera feedback, 250 Hz, disturbance suppression, dynamic visual tracking technique, rapid feedback, optimal linearizing intensity-based filtering approach, high-speed visual robot control, industrial robot
- host publication
- 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IEEE Cat. No. 06CH37780D)
- pages
- 1212 - 1217
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- conference name
- 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
- conference location
- Beijing, China
- conference dates
- 2006-10-09 - 2006-10-15
- external identifiers
-
- wos:000245452401038
- scopus:34250644932
- ISBN
- 1-4244-0258-1
- DOI
- 10.1109/IROS.2006.281856
- project
- RobotLab LTH
- language
- English
- LU publication?
- yes
- id
- c4552baf-aa61-48d9-a6c1-274b66ee3bb5 (old id 616970)
- date added to LUP
- 2016-04-04 11:28:56
- date last changed
- 2023-01-05 23:58:12
@inproceedings{c4552baf-aa61-48d9-a6c1-274b66ee3bb5, abstract = {{Many contact operations in robotics require accurate positioning, which is made difficult by the presence of rapidly varying interaction forces and compliances in gear boxes and links. In order to compensate for such effects, rapid feedback from the measured tool position in several degrees of freedom is needed. This paper presents a dynamic visual tracking technique based directly on intensity measurements in the image, which can be used to obtain state estimates at a very high rate, and with very short input-output latency. Methods for analysis of the stability and sensitivity to disturbances are presented, and an improved version for better disturbance suppression of illumination variations and noise is developed. Positioning experiments using an industrial robot with camera feedback at 250 Hz are used to validate the approach}}, author = {{Olsson, Tomas and Johansson, Rolf and Robertsson, Anders}}, booktitle = {{2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IEEE Cat. No. 06CH37780D)}}, isbn = {{1-4244-0258-1}}, keywords = {{camera feedback; 250 Hz; disturbance suppression; dynamic visual tracking technique; rapid feedback; optimal linearizing intensity-based filtering approach; high-speed visual robot control; industrial robot}}, language = {{eng}}, pages = {{1212--1217}}, publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}}, title = {{High-Speed Visual Robot Control Using an Optimal Linearizing Intensity-Based Filtering Approach}}, url = {{http://dx.doi.org/10.1109/IROS.2006.281856}}, doi = {{10.1109/IROS.2006.281856}}, year = {{2006}}, }