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Improving detection of surface discontinuities in visual-force control systms
Citation
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 |
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| Author/s: |
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| 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 |
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 |
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| DC Identifier: | https://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 |
