A new time-independent image path tracker to guide robots using visual servoing

García, Gabriel J.; Pomares, Jorge; Torres, Fernando

doi:10.1109/efta.2007.4416887

Cited by 5 publications

(4 citation statements)

References 13 publications

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“…When the obstruction ends, the robot keeps the time restrictions without tracking the trajectory correctly. Garcia et al [ 57 , 58 ] describe an image path tracker with the same time-independent behaviour as the movement flow-based visual servoing described above or the path tracking system presented in [ 59 ], where the visual servoing system proposed to track the trajectory in the image deals with the tracking task as a sequence of positioning tasks. It uses the classical image-based visual servoing control law (see Equation (3) ) to position the robot between two consecutive positions into the path.…”

Section: Visual Servoing Controlmentioning

confidence: 99%

“…Moreover, it is not possible to specify the desired velocity at which the robot tracks the trajectory. The time-independent visual servoing proposed in [ 57 , 58 ] overcomes this limitation and the tracking velocity can be adjusted to a desired value. This last image path tracker uses virtual visual servoing to search the camera configuration that guarantees the desired velocity between two consecutive references.…”

Section: Visual Servoing Controlmentioning

confidence: 99%

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Survey of Visual and Force/Tactile Control of Robots for Physical Interaction in Spain

García

Ramón

Pomares

et al. 2009

Sensors

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Sensors provide robotic systems with the information required to perceive the changes that happen in unstructured environments and modify their actions accordingly. The robotic controllers which process and analyze this sensory information are usually based on three types of sensors (visual, force/torque and tactile) which identify the most widespread robotic control strategies: visual servoing control, force control and tactile control. This paper presents a detailed review on the sensor architectures, algorithmic techniques and applications which have been developed by Spanish researchers in order to implement these mono-sensor and multi-sensor controllers which combine several sensors.

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Section: Visual Servoing Controlmentioning

confidence: 99%

Section: Visual Servoing Controlmentioning

confidence: 99%

Survey of Visual and Force/Tactile Control of Robots for Physical Interaction in Spain

García

Ramón

Pomares

et al. 2009

Sensors

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show abstract

“…At this moment, the set of features k s will be the desired features to be used by an image-based visual servoing system (see Equation (3)). However, the visual features, j s, which provide the desired velocity are between k s and k-1 s. To obtain the correct image features the method described in [17] is employed.…”

Section: Time-independent Methods For Tracking Image Paths Using Visuamentioning

confidence: 99%

A cooperative robotic system based on multiple sensors to construct metallic structures

Gil

Pomares

Méndez

et al. 2009

Int J Adv Manuf Technol

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This paper describes a multi-sensorial robotic system to automatically construct metallic structures. Two robots must work cooperatively in the same workspace to perform the task. The robots are automatically guided by using visual and force sensor information. A new time-independent visual-force control system which guarantees the adequate robot behaviour during the construction of the structure is described. During the construction of the structure, a human operator works cooperatively with the robots in order to perform some tasks which cannot be automatically developed by the robots. To do so, a new human-robot cooperation approach is described in order to guarantee the human safety. The correct behaviour of the different subsystems proposed in the paper is demonstrated in the results section by the construction of a real structure composed of several metallic tubes and different types of pieces to join them.

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“…7b). When the operator has finished the unscrewing process, the robotic manipulator begins to move towards the structure by using a time-independent visual sevoing technique (Garcia et al, 2007) in order to grab the unscrewed connector (Fig. 7c).…”

Section: Application In a Human-robot Interaction Taskmentioning

confidence: 99%