Title :
A universal sensor control architecture considering robot dynamics
Author :
Lange, Friedrich ; Hirzinger, Gerd
Author_Institution :
Inst. of Robotics & Mechatronics, Deutsches Zentrum fur Luft- und Raumfahrt (DLR), Wessling, Germany
Abstract :
The paper presents a dynamical sensor control architecture that allows robot arms to perform tasks that with conventional feedback of sensor data fail because of delays or deviations due to the robot dynamics. The architecture distinguishes between robot positional control and refinement of desired positions using vision and/or other sensors. Each of these aspects is designed without the knowledge of the other. Communication between sensors and robot control may be slow and asynchronous. Experiments show vision based control along a seen line at a speed of 0.7 m/s. Path deviations are about 0.6 mm.
Keywords :
adaptive control; feedforward; force control; image sensors; manipulator dynamics; path planning; position control; sensor fusion; robot arms; robot dynamics; robot positional control; universal sensor control architecture; vision sensors; Control systems; Feedback loop; Force control; Image sensors; Laser feedback; Machine vision; Robot control; Robot sensing systems; Sensor systems; Visual servoing;
Conference_Titel :
Multisensor Fusion and Integration for Intelligent Systems, 2001. MFI 2001. International Conference on
Print_ISBN :
3-00-008260-3
DOI :
10.1109/MFI.2001.1013547
