Improving detection of surface discontinuities in visual-force control systems

Authors:
J. Pomares;P. Gil;G. J. García;J. M. Sebastián;F. Torres
Affiliations:
Physics, Systems Engineering and Signal Theory Department, University of Alicante, PO Box 99, 03080 Alicante, Spain;Physics, Systems Engineering and Signal Theory Department, University of Alicante, PO Box 99, 03080 Alicante, Spain;Physics, Systems Engineering and Signal Theory Department, University of Alicante, PO Box 99, 03080 Alicante, Spain;DISAM, Polytechnic University of Madrid, C/ José Gutiérrez Abascal, 2, 28006 Madrid, Spain;Physics, Systems Engineering and Signal Theory Department, University of Alicante, PO Box 99, 03080 Alicante, Spain
Venue:
Image and Vision Computing
Year:
2008

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Abstract

In this paper, a new approach to detect surface discontinuities in a visual-force control task is described. A task which consists in tracking a surface using visual-force information is shown. In this task, in order to reposition the robot tool with respect to the surface it is necessary to determine the surface discontinuities. This paper describes a new method to detect surface discontinuities employing sensorial information obtained from a force sensor, a camera and structured light. This method has proved to be more robust than previous systems even in situations where high frictions occur.