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High-Speed Vision and Force Feedback for Motion-Controlled Industrial Manipulators

Olsson, Tomas LU (2007) In PhD Theses TFRT-1078.
Abstract (Swedish)
Popular Abstract in Swedish

Under de senaste årtiondena har både kraftsensorer och digitala kameror kommit att bli vanliga som sensorer i olika robotiktillämpningar. Denna avhandling behandlar olika problem inom visuell rörelseskattning och återkoppling, samt integrationen av dessa tekniker med reglering av kontaktkrafter för en industrirobot. Olika ämnen tas upp, från grundläggande teori till praktiska aspekter på implementation av verkliga system. Ett nytt gränssnitt för reglering av en industrirobot med externa sensorer presenteras, vilket har designats genom att göra utökningar av ett standardstyrsystem för en industrirobot. Strukturen för dessa utökningar beskrivs, systemets egenskaper modelleras och verifieras... (More)
Popular Abstract in Swedish

Under de senaste årtiondena har både kraftsensorer och digitala kameror kommit att bli vanliga som sensorer i olika robotiktillämpningar. Denna avhandling behandlar olika problem inom visuell rörelseskattning och återkoppling, samt integrationen av dessa tekniker med reglering av kontaktkrafter för en industrirobot. Olika ämnen tas upp, från grundläggande teori till praktiska aspekter på implementation av verkliga system. Ett nytt gränssnitt för reglering av en industrirobot med externa sensorer presenteras, vilket har designats genom att göra utökningar av ett standardstyrsystem för en industrirobot. Strukturen för dessa utökningar beskrivs, systemets egenskaper modelleras och verifieras experimentellt, och resultat från experiment med kraftreglerad slipning och gjutgodsrensning presenteras. En ny teknik för kraftreglerad borrning demonstreras, baserad på reglering av skjuvkrafterna från den borrglidning som sker vid kraftpåläggning. Genom den presenterade tekniken kan glidningen motverkas, vilket resulterar i klart bättre positionering och hålkvalitet. Grundläggande tekniker för visuell rörelseskattning och reglering presenteras, tillsammans med utökningar syftande till förbättrad robusthet. En metod för förbättrad prestanda i ett system med multipla kameror presenteras också, baserat på optimala val av mätpunkter i bilderna. De utvecklade metoderna används också som grund i två metoder för att kombinera visuell data med kraftreglering, vilka verifieras genom experiment. Nya metoder för visuell rörelseskattning baserade på mätning av bildintensiteter har också utvecklats. Nya, stabilitetsorienterade dynamiska metoder för bättre prestanda i återkopplade system presenteras. De nya metoderna ger i många situationer signifikant bättre prestanda än tidigare intensitetsbaserade metoder, vilket illustreras genom simuleringar och experiment. (Less)
Abstract
Over the last decades, both force sensors and cameras have emerged as useful sensors for different applications in robotics. This thesis considers a number of dynamic visual tracking and control problems, as well as the integration of these techniques with contact force control. Different topics ranging from basic theory to system implementation and applications are treated. A new interface developed for external sensor control is presented, designed by making non-intrusive extensions to a standard industrial robot control system. The structure of these extensions are presented, the system properties are modeled and experimentally verified, and results from force-controlled stub grinding and deburring experiments are presented. A novel... (More)
Over the last decades, both force sensors and cameras have emerged as useful sensors for different applications in robotics. This thesis considers a number of dynamic visual tracking and control problems, as well as the integration of these techniques with contact force control. Different topics ranging from basic theory to system implementation and applications are treated. A new interface developed for external sensor control is presented, designed by making non-intrusive extensions to a standard industrial robot control system. The structure of these extensions are presented, the system properties are modeled and experimentally verified, and results from force-controlled stub grinding and deburring experiments are presented. A novel system for force-controlled drilling using a standard industrial robot is also demonstrated. The solution is based on the use of force feedback to control the contact forces and the sliding motions of the pressure foot, which would otherwise occur during the drilling phase. Basic methods for feature-based tracking and servoing are presented, together with an extension for constrained motion estimation based on a dual quaternion pose parametrization. A method for multi-camera real-time rigid body tracking with time constraints is also presented, based on an optimal selection of the measured features. The developed tracking methods are used as the basis for two different approaches to vision/force control, which are illustrated in experiments. Intensity-based techniques for tracking and vision-based control are also developed. A dynamic visual tracking technique based directly on the image intensity measurements is presented, together with new stability-based methods suitable for dynamic tracking and feedback problems. The stability-based methods outperform the previous methods in many situations, as shown in simulations and experiments. (Less)
Please use this url to cite or link to this publication:
author
supervisor
opponent
  • Professor De Schutter, Joris, Katholieke Universiteit Leuven, Belgium
organization
publishing date
type
Thesis
publication status
published
subject
keywords
robotics, Automation, Force/vision control, Visual tracking, Visual servoing, control engineering, Automatiska system, robotteknik, reglerteknik
in
PhD Theses
volume
TFRT-1078
pages
213 pages
publisher
Department of Automatic Control, Lund Institute of Technology, Lund University
defense location
Room M:B, M-building, Ole Römers väg 1, Lund University Faculty of Engineering
defense date
2007-05-04 13:15
ISSN
0280-5316
language
English
LU publication?
yes
id
3db60870-2ebd-4524-81c2-9531f5c03e65 (old id 27197)
date added to LUP
2007-06-05 13:53:01
date last changed
2016-09-19 08:44:52
@phdthesis{3db60870-2ebd-4524-81c2-9531f5c03e65,
  abstract     = {Over the last decades, both force sensors and cameras have emerged as useful sensors for different applications in robotics. This thesis considers a number of dynamic visual tracking and control problems, as well as the integration of these techniques with contact force control. Different topics ranging from basic theory to system implementation and applications are treated. A new interface developed for external sensor control is presented, designed by making non-intrusive extensions to a standard industrial robot control system. The structure of these extensions are presented, the system properties are modeled and experimentally verified, and results from force-controlled stub grinding and deburring experiments are presented. A novel system for force-controlled drilling using a standard industrial robot is also demonstrated. The solution is based on the use of force feedback to control the contact forces and the sliding motions of the pressure foot, which would otherwise occur during the drilling phase. Basic methods for feature-based tracking and servoing are presented, together with an extension for constrained motion estimation based on a dual quaternion pose parametrization. A method for multi-camera real-time rigid body tracking with time constraints is also presented, based on an optimal selection of the measured features. The developed tracking methods are used as the basis for two different approaches to vision/force control, which are illustrated in experiments. Intensity-based techniques for tracking and vision-based control are also developed. A dynamic visual tracking technique based directly on the image intensity measurements is presented, together with new stability-based methods suitable for dynamic tracking and feedback problems. The stability-based methods outperform the previous methods in many situations, as shown in simulations and experiments.},
  author       = {Olsson, Tomas},
  issn         = {0280-5316},
  keyword      = {robotics,Automation,Force/vision control,Visual tracking,Visual servoing,control engineering,Automatiska system,robotteknik,reglerteknik},
  language     = {eng},
  pages        = {213},
  publisher    = {Department of Automatic Control, Lund Institute of Technology, Lund University},
  school       = {Lund University},
  series       = {PhD Theses},
  title        = {High-Speed Vision and Force Feedback for Motion-Controlled Industrial Manipulators},
  volume       = {TFRT-1078},
  year         = {2007},
}