High-Speed Visual Robot Control Using an Optimal Linearizing Intensity-Based Filtering Approach

Tomas Olsson; Rolf Johansson; Anders Robertsson

doi:10.1109/IROS.2006.281856

High-Speed Visual Robot Control Using an Optimal Linearizing Intensity-Based Filtering Approach

Tomas Olsson, Rolf Johansson, Anders Robertsson

Department of Automatic Control

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

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 language	English
Title of host publication	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IEEE Cat. No. 06CH37780D)
Publisher	IEEE - Institute of Electrical and Electronics Engineers Inc.
Pages	1212-1217
ISBN (Print)	1-4244-0258-1
DOIs	https://doi.org/10.1109/IROS.2006.281856
Publication status	Published - 2006
Event	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems - Beijing, China Duration: 2006 Oct 9 → 2006 Oct 15

Conference

Conference	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/Territory	China
City	Beijing
Period	2006/10/09 → 2006/10/15

Subject classification (UKÄ)

Control Engineering

Free 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

Access to Document

10.1109/IROS.2006.281856

RobotLab LTH
Bagge Carlson, F. (Researcher), Johansson, R. (Researcher), Karlsson, M. (Researcher), Olofsson, B. (Researcher), Robertsson, A. (Researcher), Robertz, S. (Researcher), Haage, M. (Researcher), Malec, J. (Researcher), Nilsson, K. (Researcher), Nugues, P. (Researcher), Stenmark, M. (Researcher), Topp, E. A. (Researcher), Krueger, V. (Researcher), Åström, H. (Researcher), Mayr, M. (Researcher), Salt Ducaju, J. (Researcher), Nishimura, M. (Administrator), Wisbrant, J. (Project communication officer), Dürr, A. (Researcher), Mayr, M. (Researcher), Nugues, P. (Researcher), Klang, M. (Research engineer), Klöckner, M. (Researcher), Nardi, L. (Researcher), Ahmad, F. (Researcher), Oxenstierna, J. (Researcher), Rizwan, M. (Researcher), Reichenbach, C. (Researcher), Bergström, J. (Researcher), Dell'Unto, N. (Researcher), Maunsbach, L. (Researcher), Åström, K. (Researcher), Blomdell, A. (Research engineer), Magnusson, M. (Researcher), Fransson, P.-A. (Researcher), Karayiannidis, Y. (Researcher), Johansson, A. T. (Researcher), Jia, Z. (Researcher), Laban, L. (Researcher), Wingqvist, B. (Researcher), Guberina, M. (Researcher), Jena, A. (Researcher), Westin, E. (Administrator), Frick, C. (Administrator), Pisarevskiy, A. (Research engineer), Nilsson, A. (Research engineer), Reitmann, S. (Researcher), Hvarfner, C. (Researcher), Stoltenberg, P. (Researcher) & Fregnan, S. (Researcher)
1993/01/01 → …
Project: Research

RobotLab LTH Infrastructure
Krueger, V. (Manager), Olofsson, B. (Manager), Karayiannidis, Y. (Manager), Haage, M. (Manager), Malec, J. (Manager) & Topp, E. A. (Manager)
Faculty of Engineering, LTH
Infrastructure

Cite this

Olsson, T., Johansson, R., & Robertsson, A. (2006). High-Speed Visual Robot Control Using an Optimal Linearizing Intensity-Based Filtering Approach. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IEEE Cat. No. 06CH37780D) (pp. 1212-1217). IEEE - Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2006.281856

@inproceedings{c4552bafaa6148d9a6c1274b66ee3bb5,

title = "High-Speed Visual Robot Control Using an Optimal Linearizing Intensity-Based Filtering Approach",

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",

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",

author = "Tomas Olsson and Rolf Johansson and Anders Robertsson",

year = "2006",

doi = "10.1109/IROS.2006.281856",

language = "English",

isbn = "1-4244-0258-1",

pages = "1212--1217",

booktitle = "2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IEEE Cat. No. 06CH37780D)",

publisher = "IEEE - Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

note = "2006 IEEE/RSJ International Conference on Intelligent Robots and Systems ; Conference date: 09-10-2006 Through 15-10-2006",

}

Olsson, T, Johansson, R & Robertsson, A 2006, High-Speed Visual Robot Control Using an Optimal Linearizing Intensity-Based Filtering Approach. in 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IEEE Cat. No. 06CH37780D). IEEE - Institute of Electrical and Electronics Engineers Inc., pp. 1212-1217, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006/10/09. https://doi.org/10.1109/IROS.2006.281856

High-Speed Visual Robot Control Using an Optimal Linearizing Intensity-Based Filtering Approach. / Olsson, Tomas; Johansson, Rolf; Robertsson, Anders.
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IEEE Cat. No. 06CH37780D). IEEE - Institute of Electrical and Electronics Engineers Inc., 2006. p. 1212-1217.

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

TY - GEN

T1 - High-Speed Visual Robot Control Using an Optimal Linearizing Intensity-Based Filtering Approach

AU - Olsson, Tomas

AU - Johansson, Rolf

AU - Robertsson, Anders

PY - 2006

Y1 - 2006

N2 - 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

AB - 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

KW - camera feedback

KW - 250 Hz

KW - disturbance suppression

KW - dynamic visual tracking technique

KW - rapid feedback

KW - optimal linearizing intensity-based filtering approach

KW - high-speed visual robot control

KW - industrial robot

U2 - 10.1109/IROS.2006.281856

DO - 10.1109/IROS.2006.281856

M3 - Paper in conference proceeding

SN - 1-4244-0258-1

SP - 1212

EP - 1217

BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IEEE Cat. No. 06CH37780D)

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 9 October 2006 through 15 October 2006

ER -

High-Speed Visual Robot Control Using an Optimal Linearizing Intensity-Based Filtering Approach

Abstract

Conference

Subject classification (UKÄ)

Free keywords

Access to Document

Fingerprint

Projects

RobotLab LTH

Equipment

RobotLab LTH Infrastructure

Cite this