Improving detection of surface discontinuities in visual-force control systms

Pomares Baeza, Jorge and García Gómez, Gabriel Jesús and Gil Vázquez, Gil Vázquez and Sebastian y Zuñiga, Jose Maria and Torres Medina, Fernando (2008). Improving detection of surface discontinuities in visual-force control systms. "Image and Vision Computing", v. 26 (n. 10); pp. 1435-1447. ISSN 0262-8856. https://doi.org/10.1016/j.imavis.2008.01.007.

Description

Title: Improving detection of surface discontinuities in visual-force control systms
Author/s:
  • Pomares Baeza, Jorge
  • García Gómez, Gabriel Jesús
  • Gil Vázquez, Gil Vázquez
  • Sebastian y Zuñiga, Jose Maria
  • Torres Medina, Fernando
Item Type: Article
Título de Revista/Publicación: Image and Vision Computing
Date: October 2008
ISSN: 0262-8856
Volume: 26
Subjects:
Freetext Keywords: Surface discontinuity recognition; visual–force fusion; visual robot guidance
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

In this paper, a new approach to detect surface discontinuities in a visual–force control task is described. A task which consists in tracking a surface using visual–force information is shown. In this task, in order to reposition the robot tool with respect to the surface it is necessary to determine the surface discontinuities. This paper describes a new method to detect surface discontinuities employing sensorial information obtained from a force sensor, a camera and structured light. This method has proved to be more robust than previous systems even in situations where high frictions occur.

More information

Item ID: 2466
DC Identifier: http://oa.upm.es/2466/
OAI Identifier: oai:oa.upm.es:2466
DOI: 10.1016/j.imavis.2008.01.007
Official URL: http://www.elsevier.com/wps/find/journaldescription.cws_home/525443/description#description
Deposited by: Memoria Investigacion
Deposited on: 08 Mar 2010 09:00
Last Modified: 20 Apr 2016 12:09
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