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Force Control and Visual Servoing Using Planar Surface Identification

Olsson, Tomas LU ; Bengtsson, Johan LU ; Johansson, Rolf LU and Malm, Henrik LU (2002) In Proceedings. ICRA '02. 4. p.4211-4216
Abstract
When designing flexible multi-sensor based robot systems, one important problem is how to combine the measurements fromdisparate sensors such as cameras and force sensors. In this paper,we present a method for combining direct force control and visualservoing in the presence of unknown planar surfaces. The controlalgorithm involves a force feedback control loop and a vision basedreference trajectory as a feed-forward signal. The vision system isbased on a constrained image-based visual servoing algorithm designedfor surface following, wherethe location and orientation of the planar constraint surface is estimated online using position-, force- and visual data.We show how data from a simple and efficient camera calibration method can be... (More)
When designing flexible multi-sensor based robot systems, one important problem is how to combine the measurements fromdisparate sensors such as cameras and force sensors. In this paper,we present a method for combining direct force control and visualservoing in the presence of unknown planar surfaces. The controlalgorithm involves a force feedback control loop and a vision basedreference trajectory as a feed-forward signal. The vision system isbased on a constrained image-based visual servoing algorithm designedfor surface following, wherethe location and orientation of the planar constraint surface is estimated online using position-, force- and visual data.We show how data from a simple and efficient camera calibration method can be used in combination withforce and position data to improve the estimation and referencetrajectories.The method is validated through experiments involving force controlleddrawing on an unknown surface. The robot will grasp a pen and use itto draw lines between a number of markers drawn ona white-board, while the contact force is kept constant. Despite its simplicity, the performance of the method is satisfactory. (Less)
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author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
force control, calibration, force feedback, sensor fusion, robot vision
in
Proceedings. ICRA '02.
volume
4
pages
4211 - 4216
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
external identifiers
  • wos:000178573200667
  • scopus:0036057528
ISBN
0-7803-7272-7
DOI
10.1109/ROBOT.2002.1014414
language
English
LU publication?
yes
id
b8d5188e-3c4e-48ff-b4b1-514ccf62f0a4 (old id 537708)
date added to LUP
2007-09-24 14:04:08
date last changed
2017-02-19 04:29:11
@inproceedings{b8d5188e-3c4e-48ff-b4b1-514ccf62f0a4,
  abstract     = {When designing flexible multi-sensor based robot systems, one important problem is how to combine the measurements fromdisparate sensors such as cameras and force sensors. In this paper,we present a method for combining direct force control and visualservoing in the presence of unknown planar surfaces. The controlalgorithm involves a force feedback control loop and a vision basedreference trajectory as a feed-forward signal. The vision system isbased on a constrained image-based visual servoing algorithm designedfor surface following, wherethe location and orientation of the planar constraint surface is estimated online using position-, force- and visual data.We show how data from a simple and efficient camera calibration method can be used in combination withforce and position data to improve the estimation and referencetrajectories.The method is validated through experiments involving force controlleddrawing on an unknown surface. The robot will grasp a pen and use itto draw lines between a number of markers drawn ona white-board, while the contact force is kept constant. Despite its simplicity, the performance of the method is satisfactory.},
  author       = {Olsson, Tomas and Bengtsson, Johan and Johansson, Rolf and Malm, Henrik},
  booktitle    = {Proceedings. ICRA '02.},
  isbn         = {0-7803-7272-7},
  keyword      = {force control,calibration,force feedback,sensor fusion,robot vision},
  language     = {eng},
  pages        = {4211--4216},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  title        = {Force Control and Visual Servoing Using Planar Surface Identification},
  url          = {http://dx.doi.org/10.1109/ROBOT.2002.1014414},
  volume       = {4},
  year         = {2002},
}