Skip to main content

Lund University Publications

LUND UNIVERSITY LIBRARIES

Flexible Force-Vision Control for Surface Following using Multiple Cameras

Olsson, Tomas LU ; Johansson, Rolf LU orcid and Robertsson, Anders LU (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
; and
organization
publishing date
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}},
}