Title :
Library automation using different structures of vision-force robot control and automatic decision system
Author :
Bdiwi, Mohamad ; Suchý, Jozef
Author_Institution :
Dept. of Robotic Syst., Chemnitz Univ. of Technol., Chemnitz, Germany
Abstract :
Most of robot applications require robots to interact with environment, objects or even with human, which need to integrate vision and force information. Generally, there are five types of vision-force control: pure position control, pure force control, traded control, shared control and hybrid control. The important questions here are: How to define the most appropriate control mode for every part of different tasks and when the control system should switch from one control mode to the other. In this work an automatic decision system is suggested to define the most appropriate control mode for successive tasks and to choose the optimal structure of vision/force control without human intervention. This research will focus on the operations of library automation as real application for the proposed control system such as shelving, storage and sorting of inaccurately placed objects.
Keywords :
force control; grippers; human-robot interaction; library automation; position control; robot vision; automatic decision system; force information; hybrid control; library automation; optimal vision-force control structure; pure force control; pure position control; robot applications; shared control; traded control; vision integration; vision-force control; vision-force robot control; Force; Force control; Machine vision; Robots; Sensors; Torque; Vision/force robot control; automated library; robot control structure;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location :
Vilamoura
Print_ISBN :
978-1-4673-1737-5
DOI :
10.1109/IROS.2012.6385490