This Article Full Text (PDF) References Alert me when this article is cited Alert me if a correction is posted Services Email this article to a friend Similar articles in this journal Similar articles in Web of Science Alert me to new issues of the journal Add to Saved Citations Download to citation manager Request Permissions Request Reprints Add to My Marked Citations Citing Articles Citing Articles via HighWire Citing Articles via Web of Science (5) Citing Articles via Google Scholar Citing Articles via Scopus Google Scholar Articles by Baeten, J. Articles by De Schutter, J. Search for Related Content Social Bookmarking                         What's this?

Integrated Vision/Force Robotic Servoing in the Task Frame Formalism

Katholieke Hogeschool Limburg Department of Industrial Sciences Diepenbeek, Belgium and Technology Universitaire Campus Gebouw B, bus 3 B-3590, johan.baeten{at}iwt.khlim.be

Herman Bruyninckx

Katholieke Universiteit Leuven Department of Mechanical Engineering Celestijnenlaan 300B B-3001 Heverlee, Belgium

Joris De Schutter

Katholieke Universiteit Leuven Department of Mechanical Engineering Celestijnenlaan 300B B-3001 Heverlee, Belgium, joris.deschutter{at}mech.kuleuven.ac.be

In this paper we show how to use the task frame to easily model, implement and execute three-dimensional (3D) robotic tasks, which integrate force control and visual servoing, in an uncalibrated workspace.

In contrast to most hybrid vision/force research, this work uses eye-in-hand vision and force control. Mounting both sensors on the same end-effector gives rise to new constraints, control issues and advantages, which are discussed in this paper.

On the one hand, in this paper we emphasize shared control in which both vision and force simultaneously control a given task frame direction. Our work shows the usefulness and feasibility of a range of tasks which use shared control. Moreover, it offers a framework based on the task frame formalism (TFF) to distinguish between different basic forms of shared control. Each basic form is illustrated by a robotic task with shared control in only one direction. In addition, an extension to classify multi-dimensional shared control tasks is presented.

On the other hand, a new classification is presented which distinguishes between four meaningful tool/camera configurations, being parallel or non-parallel endpoint closed-loop and fixed or variable endpoint open-loop. Corresponding control strategies are discussed, resulting in either collocated or non-collocated vision/force control. Several task examples (in 3D space), specified in the TFF, illustrate the use of these four configurations. As shown by the presented experimental results, the tasks at hand benefit from the integrated control approach.

Key Words: vision/force integration • hybrid control • shared control • visual servoing • force control • task frame • robotic servoing

The International Journal of Robotics Research, Vol. 22, No. 10-11, 941-954 (2003)
DOI: 10.1177/027836490302210010


CiteULike    Complore    Connotea    Del.icio.us    Digg    Reddit    Technorati    Twitter    What's this?

This article has been cited by other articles:

				J. De Schutter, T. De Laet, J. Rutgeerts, W. Decre, R. Smits, E. Aertbelien, K. Claes, and H. Bruyninckx Constraint-based Task Specification and Estimation for Sensor-Based Robot Systems in the Presence of Geometric Uncertainty The International Journal of Robotics Research, May 1, 2007; 26(5): 433 - 455. [Abstract] [PDF]