Using visual and force information in robot-robot cooperation to build metallic structures

• Autorzy: Pomares J. , Gil P. , Corrales J. A. , Garcia G. J. , Puente S. T. , Torres F.
• Języki publikacji: EN

Abstrakty

EN

In this paper, a cooperative robot-robot approach to construct metallic structures is presented. In order to develop this task, a visual-force control system is proposed. The visual information is composed of an eye-in-hand camera, and a time of flight 3D camera. Both robots are equipped by a force sensor at the end-effector. In order to allow a human cooperate with both robots, an inertial motion capture system and an indoor localization system are em ployed. This multisensorial approach allows the robots to cooperatively construct the metallic structure in a flexible way and sharing the workspace with a human operator.

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2009
• Tom: Vol. 3, No. 3
• Strony: 96--101
• Opis fizyczny: Bibliogr. 15 poz.,rys.

Twórcy

autor

Pomares J.

autor

Gil P.

autor

Corrales J. A.

autor

Garcia G. J.

autor

Puente S. T.

autor

Torres F.

• Physics, Systems Engineering and Signal Theory Department, University of Alicante, PO Box 99, 03080, Alicante. Spain. Tel. [phone]. Fax. [phone],

Bibliografia

• [1]Chaumette F. and Hutchinson S., “Visual Servo Control, Part I: Basic Approaches”,IEEE Robotics and Automation Magazine, vol. 13, no. 4, 2006, pp. 82-90.
• [2] Chaumette F., “Potential problems of convergence in visual servoing”,Int. Symposium on Mathematical Theory of Networks and Systems, Padoue, Italy, 1998.
• [3] Corrales, J.A., Candelas F.A., Torres F., “Hybrid Tracking of Human Operators using IMU/UWB Data Fusion by a Kalman Filter”, In: 3rd ACM/IEEE International Conference on Human-Robot Interaction, Amsterdam, 2008.
• [4] Dongming Z., Songtao L., “A 3D image processing method for manufacturing process automation”, Computers in Industry,vol. 56, 2005, pp. 975-985.
• [5] Garcia G.J., Pomares J., Torres, F., “A new time-independent image path tracker to guide robots using visual servoing”, In:12th IEEE International Conference on Emerging Technologies and Factory Automation, Patras,Greece, 2007.
• [6] Garcia, G.J., Pomares, J., Torres, F., “Robot guidance by estimating the force-image interaction matrix”,IFAC International Workshop on Intelligent Manufacturing Systems, Alicante, Spain, 2007.
• [7] Gil P., Pomares J., Puente S.T., Diaz C., Candelas F.,Torres F., “Flexible multi-sensorial system for automatic disassembly using cooperative robots”,Computer Integrated Manufacturing, vol. 20, no. 8, 2007, pp. 757-772.
• [8] Hutchinson S., Hager G.D., Corke P.I., “A tutorial on visual servo control”,IEEE Trans. Robotics and Automation, vol. 12, no. 5, 1996, pp. 651-670.
• [9] Kosmopoulos D., Varvarigou T., “Automated inspection of gaps on the automobile production line through stereo vision and specula reflection”,Computers in Industry, vol. 46, 2001, pp. 49-63.
• [10] Motai Y., “Salient feature extraction of industrial objects for an automated assembly system”,Computers in Industry, vol. 56, 2005, pp. 943-957.
• [11] Pauli J., Schmidt A., Sommer G., “Vision-based integrated system for object inspection and handling”,Robotics and Autonomous Systems, vol. 37, 2001, pp. 297-309.
• [12] Pomares J., Torres F., “Movement-flow based visual servoing and force control fusion for manipulation tasks in unstructured environments”,IEEE Transactions on Systems, Man, and Cybernetics-Part C, vol. 35, no. 1, 2005, pp. 4-15.
• [13] Puente S.T., Torres F., “Automatic screws removal in a disassembly process”, In:1st CLAWAR/EURON Workshop on Robots in Entertainment, Leisure and Hobby 2004.
• [14] Son C., “Optimal control planning strategies with fuzzy entropy and sensor fusion for robotic part assembly tasks”,International Journal of Machine Tools and Manufacture, vol. 42, 2002, pp. 1313-13 .
• [15] Torres F., Puente S., Aracil R., Disassembly planning based on precedence relations among assemblies, The International Journal of Advanced Manufacturing Technology, vol. 21, no. 5, 2003, pp. 317-327.