| PrintedinSwedenbyMedia-Tryck. (2007) | |||||||||||||||
Abstract | |||||||||||||||
| Lund2007 Overthelastdecades,bothforcesensorsandcamerashaveemergedas usefulsensorsfordifferentapplicationsinrobotics.Thisthesisconsiders anumberofdynamicvisualtrackingandcontrolproblems,aswellasthe integrationofthesetechniqueswithcontactforcecontrol.Differenttopics rangingfrombasictheorytosystemimplementationandapplicationsare treated. Anewinterfacedevelopedforexternalsensorcontrolispresented,designedbymakingnon-intrusiveextensionstoastandardindustrialrobotcontrolsystem.Thestructureoftheseextensionsarepresented,thesystempropertiesaremodeledandexperimentallyverified,andresultsfrom force-controlledstubgrindinganddeburringexperimentsarepresented. Anovelsystemforforce-controlled drillingusingastandardindustrial robotisalsodemonstrated.Thesolutionisbasedontheuseofforcefeedbacktocontrolthecontactforcesandtheslidingmotionsofthepressure foot,whichwouldotherwiseoccurduringthedrillingphase. Basicmethodsforfeature-basedtrackingandservoingarepresented, togetherwithanextensionforconstrainedmotionestimationbasedona dualquaternionposeparametrization.Amethodformulti-camerarealtimerigidbodytrackingwithtimeconstraintsisalsopresented,based onanoptimalselectionofthemeasuredfeatures.Thedevelopedtracking methodsareusedasthebasisfortwodifferentapproachestovision/force control,whichareillustratedinexperiments. Intensity-based techniquesfortrackingandvision-basedcontrolare alsodeveloped.Adynamicvisualtrackingtechniquebaseddirectlyonthe imageintensitymeasurementsispresented,togetherwithnewstabilitybasedmethodssuitablefordynamictrackingandfeedbackproblems.Thestability-basedmethodsoutperformthepreviousmethodsinmanysituations,asshowninsimulationsandexperiments. 5 | |||||||||||||||
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