Using visual and force information in robot-robot cooperation to build metallic structures
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http://hdl.handle.net/10045/14057
Title: | Using visual and force information in robot-robot cooperation to build metallic structures |
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Authors: | Pomares, Jorge | Gil, Pablo | Corrales Ramón, Juan Antonio | Garcia, Gabriel J. | Puente Méndez, Santiago T. | Torres, Fernando |
Research Group/s: | Automática, Robótica y Visión Artificial |
Center, Department or Service: | Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal |
Keywords: | Visual servoing | Force control | Sensor fusion | Estimation algorithms | Robot vision |
Knowledge Area: | Ingeniería de Sistemas y Automática |
Issue Date: | Mar-2009 |
Publisher: | Industrial Research Institute for Automation and Measurements "PIAP" |
Citation: | POMARES BAEZA, Jorge, et al. "Using visual and force information in robot-robot cooperation to build metallic structures". Journal of Automation, Mobile Robotics & Intelligent Systems. Vol. 3, No. 3 (2009). ISSN 1897-8649, pp. 96-101 |
Abstract: | 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 employed. This multisensorial approach allows the robots to cooperatively construct the metallic structure in a flexible way and sharing the workspace with a human operator. |
Sponsor: | This work was funded by the Spanish MEC project “Design, Implementation and Experimentation of Intelligent Manipulation Scenarios for Automatic Assembly and Disassembly Applications (DPI2005-06222)”and the FPU grant AP2005-1458. |
URI: | http://hdl.handle.net/10045/14057 |
ISSN: | 1897-8649 (Print) | 2080-2145 (Online) |
Language: | eng |
Type: | info:eu-repo/semantics/article |
Peer Review: | si |
Publisher version: | http://www.jamris.org/issue_03_2009.php?p=96 |
Appears in Collections: | INV - AUROVA - Artículos de Revistas INV - HURO - Artículos de Revistas |
Files in This Item:
File | Description | Size | Format | |
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JAMRIS_No03_2009_P_96-101.pdf | 451,22 kB | Adobe PDF | Open Preview | |
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