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Authors
Corrales, J. A.; García, G. J.; Gil, P.; Pomares, J.; Puente, S. T.; Torres, F.

Digital Object Identifier (DOI)
10.3182/20081205-2-CL-4009.00025

Page Numbers:
133-138

Index Terms
visual servoing,force control,sensor fusion,estimation algorithms,robot vision

Abstract
This paper describes a multisensorial system employed in a robotic application developed to automatically construct metallic structures. The proposed system has the novelty of a high degree of flexibility with an intelligent multisensorial system. This sensorial system is composed of a visual-force control system, a time of flight 3D-camera, an inertial motion capture system and an indoor localization system. These two last sensors are used to avoid possible collisions between the human operator and the robots working in the same workspace.

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