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High-speed visual robot control using an optimal linearizing intensity-based filtering approach

Olsson, Tomas LU ; Johansson, Rolf LU orcid and Robertsson, Anders LU (2006) 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems p.1212-1217
Abstract
Many contact operations in robotics require accurate positioning, which is made difficult by the presence of rapidly varying interaction forces and compliances in gear boxes and links. In order to compensate for such effects, rapid feedback from the measured tool position in several degrees of freedom is needed. This paper presents a dynamic visual tracking technique based directly on intensity measurements in the image, which can be used to obtain state estimates at a very high rate, and with very short input-output latency. Methods for analysis of the stability and sensitivity to disturbances are presented, and an improved version for better disturbance suppression of illumination variations and noise is developed. Positioning... (More)
Many contact operations in robotics require accurate positioning, which is made difficult by the presence of rapidly varying interaction forces and compliances in gear boxes and links. In order to compensate for such effects, rapid feedback from the measured tool position in several degrees of freedom is needed. This paper presents a dynamic visual tracking technique based directly on intensity measurements in the image, which can be used to obtain state estimates at a very high rate, and with very short input-output latency. Methods for analysis of the stability and sensitivity to disturbances are presented, and an improved version for better disturbance suppression of illumination variations and noise is developed. Positioning experiments using an industrial robot with camera feedback at 250 Hz are used to validate the approach (Less)
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
keywords
camera feedback, 250 Hz, disturbance suppression, dynamic visual tracking technique, rapid feedback, optimal linearizing intensity-based filtering approach, high-speed visual robot control, industrial robot
host publication
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IEEE Cat. No. 06CH37780D)
pages
1212 - 1217
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
conference name
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
conference location
Beijing, China
conference dates
2006-10-09 - 2006-10-15
external identifiers
  • wos:000245452401038
  • scopus:34250644932
ISBN
1-4244-0258-1
DOI
10.1109/IROS.2006.281856
project
LU Robotics Laboratory
language
English
LU publication?
yes
id
c4552baf-aa61-48d9-a6c1-274b66ee3bb5 (old id 616970)
date added to LUP
2016-04-04 11:28:56
date last changed
2021-06-23 04:45:09
@inproceedings{c4552baf-aa61-48d9-a6c1-274b66ee3bb5,
  abstract     = {Many contact operations in robotics require accurate positioning, which is made difficult by the presence of rapidly varying interaction forces and compliances in gear boxes and links. In order to compensate for such effects, rapid feedback from the measured tool position in several degrees of freedom is needed. This paper presents a dynamic visual tracking technique based directly on intensity measurements in the image, which can be used to obtain state estimates at a very high rate, and with very short input-output latency. Methods for analysis of the stability and sensitivity to disturbances are presented, and an improved version for better disturbance suppression of illumination variations and noise is developed. Positioning experiments using an industrial robot with camera feedback at 250 Hz are used to validate the approach},
  author       = {Olsson, Tomas and Johansson, Rolf and Robertsson, Anders},
  booktitle    = {2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IEEE Cat. No. 06CH37780D)},
  isbn         = {1-4244-0258-1},
  language     = {eng},
  pages        = {1212--1217},
  publisher    = {IEEE - Institute of Electrical and Electronics Engineers Inc.},
  title        = {High-speed visual robot control using an optimal linearizing intensity-based filtering approach},
  url          = {http://dx.doi.org/10.1109/IROS.2006.281856},
  doi          = {10.1109/IROS.2006.281856},
  year         = {2006},
}