Model-based compliant motion control scheme for assembly tasks using vision and force information

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

This paper proposes model-based compliant motion control scheme for assembly tasks using vision and force information. Many problems, especially assembly tasks, could be solved by integrating visual servoing and impedance control with model-based compliant motion design, in which the coordinate frame of the impedance control is attached to the model of assembled object. To implement the model-based compliant motion control scheme, real-time model-based object pose estimation is used for the visual servoing implemented by a position-based approach. The coordinate frame used for the impedance control, which is attached to the object model, is determined based on the estimated object pose. The proposed control is effective for assembly of two parts like connector insertion task, in which the compliant motion should be designed according to the geometric structure of the assembled part, such as a shape of a socket. Finally, experimental results illustrate the effectiveness of the proposed control.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Automation Science and Engineering, CASE 2013
Pages948-953
Number of pages6
DOIs
Publication statusPublished - 2013 Dec 1
Event2013 IEEE International Conference on Automation Science and Engineering, CASE 2013 - Madison, WI, United States
Duration: 2013 Aug 172013 Aug 20

Publication series

NameIEEE International Conference on Automation Science and Engineering
ISSN (Print)2161-8070
ISSN (Electronic)2161-8089

Other

Other2013 IEEE International Conference on Automation Science and Engineering, CASE 2013
CountryUnited States
CityMadison, WI
Period13/8/1713/8/20

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Model-based compliant motion control scheme for assembly tasks using vision and force information'. Together they form a unique fingerprint.

Cite this