Movement-Flow-Based Visual Servoing and Force Control Fusion for Manipulation Tasks in Unstructured Environments  

Oleh:

Pomares, Jorge ; Torres, Fernando

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: IEEE Transactions on Systems, Man, and Cybernetics: Part C Applications and Reviews vol. 35 no. 1 (Feb. 2005), page 4-15.
Topik: Autonomous Manipulation; Eye-In-Hand System; Force Control; Multisensor Systems; Tracking Trajectories; 2-D Visual Servoing.

Ketersediaan

Perpustakaan Pusat (Semanggi) Nomor Panggil: II69.1 Non-tandon: 1 (dapat dipinjam: 0) Tandon: tidak ada

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Isi artikel

In this paper, a new approach for fusing visual and force information is shown. First, a new method for tracking trajectories, called movement flow-based visual servoing system, which presents the correct behavior in the image and in the three-dimensional space, is described. The information obtained from this system is fused with that obtained from a force control system in unstructured environments. To do so, a new method of recognizing the contact surface and a system for fusing visual and force information are described. The latter method employs variable weights for each sensor system, depending on a criteria based on the detection of changes in the interaction forces processed by a Kalman filter.

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