Complementary data fusion in guidance and control of robot compliant motion

Di Xiao; Bijoy K. Ghosh; Ning Xi; Tzyh-Jong Tarn

doi:10.1117/12.327006

9 October 1998 Complementary data fusion in guidance and control of robot compliant motion

Di Xiao, Bijoy K. Ghosh, Ning Xi, Tzyh-Jong Tarn

Proceedings Volume 3523, Sensor Fusion and Decentralized Control in Robotic Systems; (1998) https://doi.org/10.1117/12.327006
Event: Photonics East (ISAM, VVDC, IEMB), 1998, Boston, MA, United States

Abstract

This paper is devoted to the control problem of a robot manipulator for a class of constrained motions in an unknown environment. To accomplish a task in the presence of uncertainties, we propose a new guidance and control strategy based on multisensor fusion. Three different sensors-robot joint encoders, a wrist force-torque sensor and a vision system--are utilized for our task. First of all, a sensor-based hybrid position/force control scheme is proposed for an unknown contact surface. Secondly, a new multisensor fusion scheme is utilized to handle an uncalibrated workcell, wherein the surface on which there is a path to be followed by a robot is assumed to be unknown but visible by the vision system and the precise position and orientation of camera(s) with respect to the base frame of the robot is also assumed to be unknown. Our work is related with areas such as visual servoing, multisensor fusion and robot control for constrained motion. The main features of the proposed approach are: (1) multi-sensor fusion is used both for two disparate sensors (i.e. force- torque and visual sensors) and for complementary observed data rather than redundant ones as in traditional way; (2) visual servoing is realized on the tangent space of the unknown surface; (3) calibration of the camera with respect to the robot is not needed.

Citation Download Citation

Di Xiao, Bijoy K. Ghosh, Ning Xi, and Tzyh-Jong Tarn "Complementary data fusion in guidance and control of robot compliant motion", Proc. SPIE 3523, Sensor Fusion and Decentralized Control in Robotic Systems, (9 October 1998); https://doi.org/10.1117/12.327006

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available