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Titolo:
Integration of real-time planning and control in an unstructured manufacturing workcell
Autore:
Xiao, D; Ghosh, BK; Xi, N; Tarn, TJ;
Indirizzi:
Fanuc Robot N Amer Inc, Rochester, MI 48309 USA Fanuc Robot N Amer Inc Rochester MI USA 48309 nc, Rochester, MI 48309 USA Washington Univ, Dept Syst Sci & Math, St Louis, MO 63130 USA Washington Univ St Louis MO USA 63130 Sci & Math, St Louis, MO 63130 USA Michigan State Univ, Dept Elect Engn, E Lansing, MI 48824 USA Michigan State Univ E Lansing MI USA 48824 Engn, E Lansing, MI 48824 USA
Titolo Testata:
ADVANCED ROBOTICS
fascicolo: 4, volume: 13, anno: 1999,
pagine: 473 - 492
SICI:
0169-1864(1999)13:4<473:IORPAC>2.0.ZU;2-Q
Fonte:
ISI
Lingua:
ENG
Soggetto:
VISUAL SERVO CONTROL; FORCE CONTROL; VISION; FEEDBACK; SYSTEM; ROBOT; MANIPULATORS;
Keywords:
real-time planning; control; manipulator; manufacturing workcell;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
Engineering, Computing & Technology
Citazioni:
54
Recensione:
Indirizzi per estratti:
Indirizzo: Xiao, D Fanuc Robot N Amer Inc, 3900 W Hamlin Rd, Rochester, MI 48309 USA Fanuc Robot N Amer Inc 3900 W Hamlin Rd Rochester MI USA 48309 USA
Citazione:
D. Xiao et al., "Integration of real-time planning and control in an unstructured manufacturing workcell", ADV ROBOT, 13(4), 1999, pp. 473-492

Abstract

In this paper, we consider the problem of real-time planning and control of a robot manipulator in an unstructured workspace. The task we consider isto control the manipulator, such that the end-effector follows a path on an unknown surface, with the aid of a single Camera assumed to be uncalibrated with respect to the robot coordinates. To accomplish a task of this kind; we propose a new control strategy based on multisensor fusion. We assume that three different sensors, i.e. encoders ;mounted at each joint of the robot with 6 d.o.f., a force-torque sensor mounted at the wrist of the manipulator and a visual sensor milk a single camera fixed to the ceiling of theworkcell, are available. Also, we assume that the contact point between the tool grasped by the end-effector and the surface is frictionless. To describe the proposed algorithm that we have implemented. first of all we decouple the vector space of control variables into two subspaces, and use one of the subspaces for controlling the magnitude of the contact force on the surface and the other subspace for controlling the constrained motion on thesurface. In this way the control synthesis problem is decoupled and we areable to develop a new scheme that utilizes sensor fusion to handle uncalibrated parameters in the workcell and wherein the surface on which the task is to be performed is assumed to be visible, but has an apriori unknown position.

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Documento generato il 28/11/20 alle ore 21:43:52