DocumentCode
2981040
Title
Model Based Position-Force-Vision Sensor Fusion for Robot Compliant Motion Control
Author
Smits, Ruben ; Bruyninckx, Herman ; Meeussen, Wim ; Baeten, Johan ; Slaets, Peter ; De Schutter, Joris
Author_Institution
Dept. of Mech. Eng., Katholieke Univ. Leuven
fYear
2006
fDate
3-6 Sept. 2006
Firstpage
501
Lastpage
506
Abstract
This paper shows how multi sensor fusion with position, force and vision sensors can help to improve robot control. It shows how Bayesian filtering helps in the fusion and how the extra information from fusing the sensors can be used in different control aspects. The paper gives an overview of increasingly more complex control tasks, whose realization depend on increasingly more "high level" sensor fusion
Keywords
Bayes methods; filtering theory; force control; motion control; position control; robot vision; sensor fusion; Bayesian filtering; model based position-force-vision sensor fusion; multi sensor fusion; robot compliant motion control; Feeds; Force control; Force sensors; Intelligent robots; Intelligent sensors; Motion control; Robot control; Robot sensing systems; Robot vision systems; Sensor fusion;
fLanguage
English
Publisher
ieee
Conference_Titel
Multisensor Fusion and Integration for Intelligent Systems, 2006 IEEE International Conference on
Conference_Location
Heidelberg
Print_ISBN
1-4244-0566-1
Electronic_ISBN
1-4244-0567-X
Type
conf
DOI
10.1109/MFI.2006.265636
Filename
4042053
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