Improving detection of surface discontinuities in visual–force control systems
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摘要
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.
论文关键词:Surface discontinuity recognition,Visual–force fusion,Visual robot guidance
论文评审过程:Received 28 July 2006, Revised 27 December 2007, Accepted 18 January 2008, Available online 6 February 2008.
论文官网地址:https://doi.org/10.1016/j.imavis.2008.01.007