High-speed visual robot control using an optimal linearizing intensity-based filtering approach

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1 Citation (SciVal)

Abstract

Many contact operations in robotics require accurate positioning, which is made difficult by the presence of rapidly varying interaction forces and compliances in gear boxes and links. In order to compensate for such effects, rapid feedback from the measured tool position in several degrees of freedom is needed. This paper presents a dynamic visual tracking technique based directly on intensity measurements in the image, which can be used to obtain state estimates at a very high rate, and with very short input-output latency. Methods for analysis of the stability and sensitivity to disturbances are presented, and an improved version for better disturbance suppression of illumination variations and noise is developed. Positioning experiments using an industrial robot with camera feedback at 250 Hz are used to validate the approach
Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IEEE Cat. No. 06CH37780D)
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Pages1212-1217
ISBN (Print)1-4244-0258-1
DOIs
Publication statusPublished - 2006
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Conference

Conference2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/TerritoryChina
CityBeijing
Period2006/10/092006/10/15

Subject classification (UKÄ)

  • Control Engineering

Keywords

  • camera feedback
  • 250 Hz
  • disturbance suppression
  • dynamic visual tracking technique
  • rapid feedback
  • optimal linearizing intensity-based filtering approach
  • high-speed visual robot control
  • industrial robot

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