Visual - Force Control and Structured Light Fusion to Improve Recognition of Discontinuities in Surfaces

Abstract

-This paper describes a method to detect changes in given surfaces tracked by the robot end-effector. To do so, first an approach to combine visual and force information is described. By filtering the interaction forces, a parameter which provides the probability of a change in the tracking surface is obtained. In order to obtain a more accurate determination of the change in the surface, information from a laser located at the robot end-effector is also employed. Therefore, a robust method for detecting surface discontinuities which employs force and visual information jointly with structured light is presented.

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“…A visual servoing system with a configuration 'eye-in-hand' can be used to evaluate each camera pose (Pomares, 2006). Thus, the errors can be decreased and the trajectory can be changed during the movement.…”

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

“…the desired 3D trajectory of the camera at the endeffector), is assumed. For this study we have employed planners developed in our previous works [9]. From γ(t) a sampling of the trajectory is done.…”

Automatic robotic tasks in unstructured environments using an image path tracker

“…the desired 3D trajectory of the camera located at the end-effector), is assumed. For this study planners developed in previous works have been employed (Pomares, Gil, Garcia, & Torres, 2006). From γ(t) a sampling of the trajectory is done.…”