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Flexible Force-Vision Control for Surface Following using Multiple Cameras

Author

Summary, in English

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.

Publishing year

2004

Language

English

Pages

789-803

Publication/Series

Proceedings. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. (IROS 2004).

Volume

1

Document type

Conference paper

Publisher

IEEE - Institute of Electrical and Electronics Engineers Inc.

Topic

  • Control Engineering

Status

Published

Project

  • LU Robotics Laboratory
  • FlexAA

ISBN/ISSN/Other

  • ISBN: 0-7803-8463-6