Javascript verkar inte påslaget? - Vissa delar av Lunds universitets webbplats fungerar inte optimalt utan javascript, kontrollera din webbläsares inställningar.
Du är här

Force Control and Visual Servoing Using Planar Surface Identification

Publiceringsår: 2002
Språk: Engelska
Sidor: 4211-4216
Publikation/Tidskrift/Serie: Proceedings. ICRA '02.
Volym: 4
Dokumenttyp: Konferensbidrag
Förlag: IEEE--Institute of Electrical and Electronics Engineers Inc.


When designing flexible multi-sensor based robot systems, one important problem is how to combine the measurements fromdisparate sensors such as cameras and force sensors. In this paper,we present a method for combining direct force control and visualservoing in the presence of unknown planar surfaces. The controlalgorithm involves a force feedback control loop and a vision basedreference trajectory as a feed-forward signal. The vision system isbased on a constrained image-based visual servoing algorithm designedfor surface following, wherethe location and orientation of the planar constraint surface is estimated online using position-, force- and visual data.We show how data from a simple and efficient camera calibration method can be used in combination withforce and position data to improve the estimation and referencetrajectories.The method is validated through experiments involving force controlleddrawing on an unknown surface. The robot will grasp a pen and use itto draw lines between a number of markers drawn ona white-board, while the contact force is kept constant. Despite its simplicity, the performance of the method is satisfactory.


  • Mathematics
  • Control Engineering
  • Computer Vision and Robotics (Autonomous Systems)
  • force control
  • calibration
  • force feedback
  • sensor fusion
  • robot vision


  • ISBN: 0-7803-7272-7

Box 117, 221 00 LUND
Telefon 046-222 00 00 (växel)
Telefax 046-222 47 20
lu [at] lu [dot] se

Fakturaadress: Box 188, 221 00 LUND
Organisationsnummer: 202100-3211
Om webbplatsen