Name
Abstract | ||
|---|---|---|
This paper presents a visual compliance strategy to deal with the problem of fast peg-and-hole alignment with large position and attitude uncertainty. With the use of visual compliance and adoption of a light-weight 3-DOF active peg, decoupled alignment for position and attitude is realized. The active peg is capable of high-speed motion and with less dynamic defects than a traditional robot arm. Two high-speed cameras, one configured as eye-in-hand and the other as eye-to-hand are adopted to provide with the task-space feedback. Visual constraints for effecting the visual compliant motion are analyzed. Alignment experiments show that peg-and-hole alignment with the proposed approach could be successfully realized with robust convergence, and on average, the alignment could be realized within 0.7 s in our experimental setting. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/IROS.2013.6696366 | IROS |
Keywords | Field | DocType |
eye-in-hand camera,motion control,visual compliant motion,visual constraints,robust control,attitude uncertainty,task-space feedback,dynamic defects,peg-and-hole alignment,convergence,feedback,robot arm,high-speed motion,cameras,attitude control,position,visual compliance strategy,manipulators,light-weight 3-dof active peg,high-speed cameras,decoupled alignment,position control,robot vision,robust convergence,eye-to-hand camera | Convergence (routing),Computer vision,Robotic arm,Motion control,Robot vision,Computer science,Simulation,Attitude control,Control engineering,Artificial intelligence,Robust control | Conference |
ISSN | Citations | PageRank |
2153-0858 | 7 | 0.57 |
References | Authors | |
9 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Shouren Huang | 1 | 22 | 4.70 |
| Kenichi Murakami | 2 | 10 | 4.07 |
| Yuji Yamakawa | 3 | 86 | 20.24 |
| Taku Senoo | 4 | 159 | 21.79 |
| Masatoshi Ishikawa | 5 | 903 | 163.13 |