An efficient multi-camera, multi-target scheme for the three-dimensional control of robots using uncalibrated vision

González-Galván, Emilio J.; Cruz-Ramírez, Sergio Rolando; Seelinger, Michael J.; Cervantes-Sánchez, J. Jesús

doi:10.1016/s0736-5845(03)00048-6

Cited by 28 publications

(17 citation statements)

References 19 publications

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“…In medical, manufacturing, exploration, and military tasks that require teleoperation or telerobotic manipulation with a processing tool, the remote control of laser processing tools would typically be relatively more accurate, flexible and safe compared with a mechanical tool. This feature has been realized, for instance, in cases of tissue welding, chemical detection (Yoo et al, 2010) and laser metal welding (Gonzalez-Galvan, Cruz-Ramirez, Seelinger, & Cervantes-Sanchez, 2003;Chuen Leong, Teck Chew, Thi Anh Ngoc, Yang, & Chen, 2010;Li, Gao, & Wu, 2007). In the latest, a new intuitive method for robot tool path teaching in augmented reality (AR) environment was developed and tested for robot laser welding application.…”

Section: Framework Of Precision Collaboration Support With Lasersmentioning

confidence: 99%

“…A laser pointer fixed at the robot's tip served both as a guide during the teleoperated task, and as the first indicator of the current holding position. Work piece positioning and objects mapping for industrial robots' tasks were performed by projecting laser spots over the workpiece, which later allowed gathering information about the workpiece geometry with a multi-camera system (Gonzalez-Galvan et al, 2003). A mobile robotic manipulator that can grasp objects previously marked with a laser pointer by a human operator was developed (Young Sang, Cressel, Jonathan, & Charles, 2008).…”

Section: Collaboration Support Function 1: Targetingmentioning

confidence: 99%

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A review and framework of laser-based collaboration support

Bechar

Nof

Wachs

2015

Annual Reviews in Control

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Section: Framework Of Precision Collaboration Support With Lasersmentioning

confidence: 99%

Section: Collaboration Support Function 1: Targetingmentioning

confidence: 99%

A review and framework of laser-based collaboration support

Bechar

Nof

Wachs

2015

Annual Reviews in Control

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“…In general, the geometry of such a surface is not known in advance, so the visual features over the workpiece are used for determining such a geometry. Laser spots are used herein to produce visual features [10], as they have the advantage of not producing a permanent mark on the surface while enabling camera-space detection using relatively simple imageanalysis algorithms.…”

Section: B Surface Characterizationmentioning

confidence: 99%

A vision-based, impedance control strategy for industrial robot manipulators

Bonilla

González-Galván

Chávez-Olivares

et al. 2010

2010 IEEE International Conference on Automation Science and Engineering

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This paper presents a control strategy for industrial robot manipulators which consists of the combination of a calibration-free, vision-based control method with an impedance control approach. The vision-based, robot control method known as camera-space manipulation is used to generate a given trajectory over an arbitrary surface. Then, a kinematic posture-based impedance controller is implemented in order to regulate the interaction forces generated by the contact between the robot end-effector and the work surface where the trajectory is traced. The paper presents experimental evidence on how the vision-force sensory fusion improves the precision of a robot-interaction task, by using a Fanuc M16-iB industrial robot equipped with a wrist force/torque sensor. As discussed in the paper, such a synergy between the control schemes is seen as a viable alternative for performing industrial maneuvers that require force modulation between the tool held by the robot and the working surface.

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“…For instance, in [2] the use of a limited number of sensors combined with mirrors, is presented. Other approaches [3] consider the use of multiple cameras or the use of sensors mounted on top of pan/tilt units [4]. In this paper, these two strategies are presented in the case of positioning and path-tracking maneuvers over large surfaces.…”

Section: Introductionmentioning

confidence: 99%

“…Comparison between closed paths traced by simple geodesic mapping (1), interpolated geodesic mapping (2) and virtual projection(3).…”

mentioning

confidence: 99%

Precise industrial robot positioning and path-tracking over large surfaces using non-calibrated vision

González-Galván

Chavez

Bonilla

et al. 2011

2011 IEEE International Conference on Robotics and Automation

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This paper presents a methodology for precise robot positioning and path tracking, performed by industrial robots over large surfaces of arbitrary size, shape and orientation. The methodology is based on a vision-based, calibration-free robot control method known as camera-space manipulation. The path, defined and stored in a CAD file, is later adapted to the curved, work-surface by using a mapping procedure. When applied to large surfaces, the precision of the positioning and path-tracking maneuvers depends on several factors like the resolution of the cameras per unit physical space and the mapping procedure, which may introduce distortion specially in the case of non-developable surfaces. In order to reduce the influence of camera-resolution, this paper presents two alternatives: the use of multiple cameras and the application of cameras mounted over non-expensive, sensorless pan/tilt units. In the case of the distortion produced by the mapping procedure, the paper discusses several options like a modified geodesic mapping and virtual projection. The proposed techniques were tested multiple times over flat and deformed surfaces, by using a large work-envelope, industrial robot.

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An efficient multi-camera, multi-target scheme for the three-dimensional control of robots using uncalibrated vision

Cited by 28 publications

References 19 publications

A review and framework of laser-based collaboration support

A review and framework of laser-based collaboration support

A vision-based, impedance control strategy for industrial robot manipulators

Precise industrial robot positioning and path-tracking over large surfaces using non-calibrated vision

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