ADAPTIVE VISUAL-FORCE CONTROL IN UNKNOWN WORKSPACES

Jorge Pomares; Fernando Torres; Laura Payá

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Paper

ADAPTIVE VISUAL-FORCE CONTROL IN UNKNOWN WORKSPACES

Topics: Vision, Recognition and Reconstruction

In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 196-201, 2005 , Barcelona, Spain

Authors: Jorge Pomares ; Fernando Torres and Laura Payá

Affiliation: University of Alicante, Spain

Keyword(s): force control, image-based control, autocalibration.

Abstract: This paper proposes the definition of a new adaptive system that combines visual and force information. At each moment, the proportion of information used from each sensor is variable depending on the adequacy of each sensor to control the task. The sensorial information obtained is processed to allow the use of both sensors for controlling the robot and avoiding situations in which the control actions are contradictory. Although the visual servoing systems have certain robustness with respect to calibration errors, when the image-based control systems are combined with force control we must accurately know the intrinsic parameters. For this purpose an adaptive approach is proposed which updates the intrinsic parameters during the task.

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Paper citation in several formats:

Pomares, J.; Torres, F. and Payá, L. (2005). ADAPTIVE VISUAL-FORCE CONTROL IN UNKNOWN WORKSPACES. In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 972-8865-30-9; ISSN 2184-2809, SciTePress, pages 196-201. DOI: 10.5220/0001169001960201

@conference{icinco05,
author={Jorge Pomares. and Fernando Torres. and Laura Payá.},
title={ADAPTIVE VISUAL-FORCE CONTROL IN UNKNOWN WORKSPACES},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2005},
pages={196-201},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001169001960201},
isbn={972-8865-30-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - ADAPTIVE VISUAL-FORCE CONTROL IN UNKNOWN WORKSPACES
SN - 972-8865-30-9
IS - 2184-2809
AU - Pomares, J.
AU - Torres, F.
AU - Payá, L.
PY - 2005
SP - 196
EP - 201
DO - 10.5220/0001169001960201
PB - SciTePress