Advanced

Flexible Force-Vision Control for Surface Following using Multiple Cameras

Olsson, Tomas LU ; Johansson, Rolf LU and Robertsson, Anders LU (2004) In Proceedings. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. (IROS 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:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
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
language
English
LU publication?
yes
id
5fdd1cd4-be53-4f64-8c20-63ff0440ffc9 (old id 536088)
date added to LUP
2007-09-24 14:01:24
date last changed
2017-01-01 08:06:48
@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          = {http://dx.doi.org/10.1109/IROS.2004.1389450},
  volume       = {1},
  year         = {2004},
}