Integrated Visual Servoing and Force Control: The Task Frame Approach

ISBN-13: 9783540404750 / Angielski / Twarda / 2003 / 181 str.

J. Baeten; J. de Schutter; Johan Baeten

Opis

Sight and touch are two elementary, but highly complementary senses - for humans as well as for robots. This monograph develops an integrated vision/force control approach for robotics, combining the advantages of both types of sensors while overcoming their individual drawbacks. It shows how integrated vision/force control improves the task quality in the sense of increased accuracy and execution velocity and widens the range of feasible tasks. The unique feature of this work lies in its comprehensive treatment of the problem from the theoretical development of the various schemes down to the real-time implementation of interaction control algorithms on an industrial robot. The presented approach and its potential impact on the performance of the next generation of robots is starting to be recognized by major manufacturers worldwide.

Recenzje

From the reviews:

ME MAGAZINE

"This monograph develops an integrated vision/force control approach for robotics, combining the advantages of both types of sensors while overcoming their individual drawbacks. It shows how the integrated vision/force control improves the task quality in the sense of increased accuracy and execution velocity, and widens the range of feasible tasks. The unique feature of this work lies in its comprehensive treatment of the problem from the theoretical development of the various schemes down to the real-time implementation of interaction control algorithms on industrial robots."

"Modern Robotics has its foundation on this base: the analysis and design of artificial devices that suitably 'act' by 'thinking' on what they can 'sense'. ... The book by Baeten and De Schutter has the merit to be the first monograph on this topic ... . The second merit of the work is to report a large number of experimental results ... . The writing style is clear and concise, hence the contents and derivations are easy to follow." (Ciro Natale, International Journal of Robust and Nonlinear Control, Vol. 16 (7), 2006)

Spis treści

Introduction.- Literature survey.- Framework.- Classification.- Visual Servoing: a 3D Alignment Task.- Planar Contour Following of Continuous Curves.- Planar Contour Following at Corners.- Additional Experiments.- Conclusion.

Blurb

Sight and touch are two elementary, but highly complementary senses - for humans as well as for robots. This monograph develops an integrated vision/force control approach for robotics, combining the advantages of both types of sensors while overcoming their individual drawbacks. It shows how integrated vision/force control improves the task quality in the sense of increased accuracy and execution velocity, and widens the range of feasible tasks. The unique feature of this work lies in its comprehensive treatment of the problem from the theoretical development of the various schemes down to the real-time implementation of interaction control algorithms on an industrial robot. The presented approach and its potential impact on the performance of the next generation of robots is starting to be recognized by major manufactures worldwide.