TY - GEN
T1 - Intelligent robotic manipulation with hybrid position/force control in an uncalibrated workspace
AU - Xiao, Di
AU - Ghosh, B. K.
AU - Xi, Ning
AU - Tarn, Tzyh Jong
N1 - Funding Information:
'Partially supported by the ]Department of Energy under grant number DE-FG02-90ER14140 and by National Science Foundation under grant numbers IRI-9706160 and IRI-9703149, and by Sandia National Laboratories Contract No. AC 3752-C.
Publisher Copyright:
© 1998 IEEE.
PY - 1998
Y1 - 1998
N2 - This paper discusses the planning and control problems of a robot manipulator for a class of constrained motions. The task under consideration is to control a robot such that a tool grasped by the end-effector of the robot follows a path on an unknown surface with the aid of a single camera vision system. To accomplish the task, we propose a new planning and control strategy based on multisensor fusion. Three different sensors-joint encoders, a wrist force-Torque sensor and a vision system with a single camera fixed above a workspace-Are employed. We decouple control variables into two sub-spaces: one is for force control and the other for control of constrained motion. We also develop a new scheme by means of sensor fusion to handle the uncertainties in an uncalibrated workspace. The contact surface is assumed to be unknown and the precise position and orientation of the camera with respect to the robot is also unknown.
AB - This paper discusses the planning and control problems of a robot manipulator for a class of constrained motions. The task under consideration is to control a robot such that a tool grasped by the end-effector of the robot follows a path on an unknown surface with the aid of a single camera vision system. To accomplish the task, we propose a new planning and control strategy based on multisensor fusion. Three different sensors-joint encoders, a wrist force-Torque sensor and a vision system with a single camera fixed above a workspace-Are employed. We decouple control variables into two sub-spaces: one is for force control and the other for control of constrained motion. We also develop a new scheme by means of sensor fusion to handle the uncertainties in an uncalibrated workspace. The contact surface is assumed to be unknown and the precise position and orientation of the camera with respect to the robot is also unknown.
UR - http://www.scopus.com/inward/record.url?scp=0031626010&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.1998.677399
DO - 10.1109/ROBOT.1998.677399
M3 - Conference contribution
AN - SCOPUS:0031626010
SN - 078034300X
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1671
EP - 1676
BT - Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th IEEE International Conference on Robotics and Automation, ICRA 1998
Y2 - 16 May 1998 through 20 May 1998
ER -