Robotic Work-Space Sensing and Control
Författare
Summary, in English
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
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
Avdelning/ar
Publiceringsår
2011
Språk
Engelska
Publikation/Tidskrift/Serie
Research Reports TFRT-3251
Fulltext
Dokumenttyp
Licentiatavhandling
Förlag
Department of Automatic Control, Lund Institute of Technology, Lund University
Ämne
- Control Engineering
Nyckelord
- assembly
- force control
- on-line trajectory generation
- filter initialization
- visual tracking
- Robotics
- computer vision
- cooperating robots
Status
Published
Projekt
- ROSETTA
Forskningsgrupp
- LCCC
Handledare
ISBN/ISSN/Övrigt
- ISSN: 0280-5316