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Article: Real-time integration of sensing, planning and control in robotic work-cells

TitleReal-time integration of sensing, planning and control in robotic work-cells
Authors
KeywordsMotion planning
Sensor fusion
Robot vision
Force control
Issue Date2004
Citation
Control Engineering Practice, 2004, v. 12, n. 6, p. 653-663 How to Cite?
AbstractThis paper addresses real-time planning and control for robot manipulators in a re-configurable work-cell or an unknown workspace. The considered tasks in robotic work-cell are (1) to catch a moving object by using vision-guidance system, and (2) to follow a path on an unknown surface. These two tasks are commonly performed in the applications of material handling and processing. In order to efficiently and successfully accomplish the tasks, novel strategies for integrating real-time planning and control are proposed to improve agility and reconfigurability of robotic systems and to deal with the uncertainties in the environment by means of multi-sensor fusion. In the proposed schemes, a novel calibration-free stereo vision algorithm and a new hybrid position/force control strategy are utilized. In order to achieve intelligent robot manipulation in an unstructured workspace and reconfigurable work-cell, complementary sensory data from different types of sensors, such as force/torque, encoders and visual sensors, are integrated simultaneously during robot constrained motion. © 2003 Elsevier Ltd. All rights reserved.
Persistent Identifierhttp://hdl.handle.net/10722/212819
ISSN
2015 Impact Factor: 1.83
2015 SCImago Journal Rankings: 1.354

 

DC FieldValueLanguage
dc.contributor.authorXiao, Di-
dc.contributor.authorSong, Mumin-
dc.contributor.authorGhosh, Bijoy K.-
dc.contributor.authorXi, Ning-
dc.contributor.authorTarn, Tzyh Jong-
dc.contributor.authorYu, Zhenyu-
dc.date.accessioned2015-07-28T04:05:07Z-
dc.date.available2015-07-28T04:05:07Z-
dc.date.issued2004-
dc.identifier.citationControl Engineering Practice, 2004, v. 12, n. 6, p. 653-663-
dc.identifier.issn0967-0661-
dc.identifier.urihttp://hdl.handle.net/10722/212819-
dc.description.abstractThis paper addresses real-time planning and control for robot manipulators in a re-configurable work-cell or an unknown workspace. The considered tasks in robotic work-cell are (1) to catch a moving object by using vision-guidance system, and (2) to follow a path on an unknown surface. These two tasks are commonly performed in the applications of material handling and processing. In order to efficiently and successfully accomplish the tasks, novel strategies for integrating real-time planning and control are proposed to improve agility and reconfigurability of robotic systems and to deal with the uncertainties in the environment by means of multi-sensor fusion. In the proposed schemes, a novel calibration-free stereo vision algorithm and a new hybrid position/force control strategy are utilized. In order to achieve intelligent robot manipulation in an unstructured workspace and reconfigurable work-cell, complementary sensory data from different types of sensors, such as force/torque, encoders and visual sensors, are integrated simultaneously during robot constrained motion. © 2003 Elsevier Ltd. All rights reserved.-
dc.languageeng-
dc.relation.ispartofControl Engineering Practice-
dc.subjectMotion planning-
dc.subjectSensor fusion-
dc.subjectRobot vision-
dc.subjectForce control-
dc.titleReal-time integration of sensing, planning and control in robotic work-cells-
dc.typeArticle-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1016/S0967-0661(03)00146-1-
dc.identifier.scopuseid_2-s2.0-2342451296-
dc.identifier.volume12-
dc.identifier.issue6-
dc.identifier.spage653-
dc.identifier.epage663-

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