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Robotic Work-Space Sensing and Control

Linderoth, Magnus LU (2011) In Research Reports TFRT-3251
Abstract
Industrial robots are traditionally programmed using only the internal joint position sensors, in a sense leaving the robot blind and numb. Using external sensors, such as cameras and force sensors, allows the robot to detect the existence and position of objects in an unstructured environment, and to handle contact situations not possible using only position control.



This thesis presents work on how external sensors can be used in robot control. A vision-based robotic ball-catcher was implemented, showing how high-speed computer vision can be used for robot control with hard time constraints. Special attention is payed to tracking of a flying ball with an arbitrary number of cameras, how to initialize the tracker when... (More)
Industrial robots are traditionally programmed using only the internal joint position sensors, in a sense leaving the robot blind and numb. Using external sensors, such as cameras and force sensors, allows the robot to detect the existence and position of objects in an unstructured environment, and to handle contact situations not possible using only position control.



This thesis presents work on how external sensors can be used in robot control. A vision-based robotic ball-catcher was implemented, showing how high-speed computer vision can be used for robot control with hard time constraints. Special attention is payed to tracking of a flying ball with an arbitrary number of cameras, how to initialize the tracker when no information about the initial state is available, and how to dynamically update the robot trajectory when the end point of

the trajectory is modified due to new measurements. In another application example, force control was used to perform robotic assembly. It is shown how force sensing can be used to handle uncertain positions (Less)
Please use this url to cite or link to this publication:
author
supervisor
organization
publishing date
type
Thesis
publication status
published
subject
keywords
assembly, force control, on-line trajectory generation, filter initialization, visual tracking, Robotics, computer vision, cooperating robots
in
Research Reports TFRT-3251
publisher
Department of Automatic Control, Lund Institute of Technology, Lund University
ISSN
0280-5316
project
ROSETTA
language
English
LU publication?
yes
additional info
key=linderoth2011lic
id
9901d3d3-1156-4dac-bab8-de4d0b06100d (old id 1988239)
date added to LUP
2016-04-01 14:45:46
date last changed
2018-11-21 20:29:54
@misc{9901d3d3-1156-4dac-bab8-de4d0b06100d,
  abstract     = {Industrial robots are traditionally programmed using only the internal joint position sensors, in a sense leaving the robot blind and numb. Using external sensors, such as cameras and force sensors, allows the robot to detect the existence and position of objects in an unstructured environment, and to handle contact situations not possible using only position control.<br/><br>
<br/><br>
This thesis presents work on how external sensors can be used in robot control. A vision-based robotic ball-catcher was implemented, showing how high-speed computer vision can be used for robot control with hard time constraints. Special attention is payed to tracking of a flying ball with an arbitrary number of cameras, how to initialize the tracker when no information about the initial state is available, and how to dynamically update the robot trajectory when the end point of<br/><br>
the trajectory is modified due to new measurements. In another application example, force control was used to perform robotic assembly. It is shown how force sensing can be used to handle uncertain positions},
  author       = {Linderoth, Magnus},
  issn         = {0280-5316},
  language     = {eng},
  note         = {Licentiate Thesis},
  publisher    = {Department of Automatic Control, Lund Institute of Technology, Lund University},
  series       = {Research Reports TFRT-3251},
  title        = {Robotic Work-Space Sensing and Control},
  url          = {https://lup.lub.lu.se/search/ws/files/4150427/1988242.pdf},
  year         = {2011},
}