Force Control and Visual Servoing Using Planar Surface Identification
Olsson, Tomas LU ; Bengtsson, Johan LU ; Johansson, Rolf LU
and Malm, Henrik
LU
(2002)
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)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/537708
- author
- Olsson, Tomas
LU
; Bengtsson, Johan
LU
; Johansson, Rolf
LU
and Malm, Henrik
LU
- organization
- publishing date
- 2002
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- keywords
- force control, calibration, force feedback, sensor fusion, robot vision
- host publication
- 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
- project
- RobotLab LTH
- Sensor-based Integration and Task-level Programming, 1999-2002.
- Lund Research Programme in Autonomous Robotics, 1998-2001
- language
- English
- LU publication?
- yes
- id
- b8d5188e-3c4e-48ff-b4b1-514ccf62f0a4 (old id 537708)
- date added to LUP
- 2016-04-04 10:30:30
- date last changed
- 2023-03-29 23:02:25
@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}},
keywords = {{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 = {{https://lup.lub.lu.se/search/files/5555466/625684.pdf}},
doi = {{10.1109/ROBOT.2002.1014414}},
volume = {{4}},
year = {{2002}},
}