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Robotic Work-Space Sensing and Control

Författare:
  • Magnus Linderoth
Publiceringsår: 2011
Språk: Engelska
Dokumenttyp: Licentiatavhandling
Övrig information: Key=linderoth2011lic

Sammanfattning

Industrial robots are traditionally programmed using only the internal
joint position sensors, in a sense leaving the robot blind and numb.
Using external sensors, such as cameras and force sensors, allows the
robot to detect the existence and position of objects in an unstructured
environment, and to handle contact situations not possible using only
position control.

This thesis presents work on how external sensors can be used
in robot control. A vision-based robotic ball-catcher was implemented,
showing how high-speed computer vision can be used for robot control
with hard time constraints. Special attention is payed to tracking of a
flying ball with an arbitrary number of cameras, how to initialize the
tracker when no information about the initial state is available, and
how to dynamically update the robot trajectory when the end point of
the trajectory is modified due to new measurements. In another application
example, force control was used to perform robotic assembly. It
is shown how force sensing can be used to handle uncertain positions

Disputation

Nyckelord

  • Technology and Engineering
  • assembly
  • force control
  • on-line trajectory generation
  • filter initialization
  • visual tracking
  • Robotics
  • computer vision
  • cooperating robots

Övrigt

  • LCCC
  • Rolf Johansson
  • Anders Robertsson
  • ISSN: 0280-5316
  • ISRN LUTFD2/TFRT--3251--SE

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