On Robotic Work-Space Sensing and Control
Författare
Summary, in English
This thesis presents research on how sensors and estimation techniques can be used in robot control. The suggested methods are theoretically analyzed and evaluated with a large focus on experimental verification in real-time settings.
One application class treated is the ability to react fast and accurately to events detected by vision, which is demonstrated by the realization of a ball-catching robot. A new approach is proposed for performing high-speed color-based image analysis that is robust to varying illumination conditions and motion blur. Furthermore, a method for object tracking is presented along with a novel way of Kalman-filter initialization that can handle initial-state estimates with infinite variance.
A second application class treated is robotic assembly using force control. A study of two assembly scenarios is presented, investigating the possibility of using force-controlled assembly in industrial robotics. Two new approaches for robotic contact-force estimation without any force sensor are presented and validated in assembly operations.
The treated topics represent some of the challenges in sensor-based robot control, and it is demonstrated how they can be used to extend the functionality of industrial robots.
Avdelning/ar
Publiceringsår
2013
Språk
Engelska
Publikation/Tidskrift/Serie
PhD Thesis TFRT-1098
Fulltext
- Available as PDF - 15 MB
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Dokumenttyp
Doktorsavhandling
Förlag
Department of Automatic Control, Lund Institute of Technology, Lund University
Ämne
- Control Engineering
Nyckelord
- Robotics
- computer vision
- color constancy
- motion blur
- filter initialization
- visual tracking
- on-line trajectory generation
- ball-catching robot
- force control
- robotic assembly
- force estimation
- perception-action capabilities.
Status
Published
Projekt
- ROSETTA
Handledare
ISBN/ISSN/Övrigt
- ISSN: 0280-5316
- ISSN: 0280-5316
- ISBN: 978-91-7473-670-0
- ISBN: 978-91-7473-669-4
Försvarsdatum
22 november 2013
Försvarstid
11:15
Försvarsplats
Lecture hall M:B, M-building, Ole Römers väg 1, Lund University Faculty of Engineering
Opponent
- Mario Sznaier