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, 26 (10). 1435 - 1447. ISSN 0262-8856
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| Item Type: | Article | ||||||||||||
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| Title: | Improving detection of surface discontinuities in visual-force control systms | ||||||||||||
| Publisher: | Elsevier | ||||||||||||
| Journal/Publication Title: | Image and Vision Computing | ||||||||||||
| Date: | October 2008 | ||||||||||||
| Volume: | 26 | ||||||||||||
| Number: | 10 | ||||||||||||
| Department: | Automation, Electronic Engineering and Industrial Computers | ||||||||||||
| Faculty: | E.T.S.I. Industrial (UPM) | ||||||||||||
| Creative Commons licenses: | Recognition - No derivative works - No commercial | ||||||||||||
| Item ID: | 2466 | ||||||||||||
| Subjects: | Electronics Industrial Engineering |
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Official URL: http://www.elsevier.com/wps/find/journaldescription.cws_home/525443/description#description
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.
| Item Type: | Article |
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| Uncontrolled Keywords: | Surface discontinuity recognition; visual–force fusion; visual robot guidance |
| Subjects: | Electronics Industrial Engineering |
| Código ID: | 2466 |
| Depositado Por: | Memoria Investigacion |
| Depositado el: | 08 Mar 2010 10:00 |
| Last Modified: | 08 Mar 2010 10:00 |
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