Intelligent robotic multisensorial system to build metallic structures
Intelligent Manufacturing Systems, Volume # 9 | Part# 1
Corrales, J. A.; García, G. J.; Gil, P.; Pomares, J.; Puente, S. T.; Torres, F.
Digital Object Identifier (DOI)
visual servoing,force control,sensor fusion,estimation algorithms,robot vision
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.
 Chaumette, F. and Hutchinson, S. (2006). Visual Servo Control, Part I: Basic Approaches. IEEE Robotics and Automation Magazine, 13(4), 82-90.  Chaumette, F. (1998). Potential problems of convergence in visual servoing. Int. Symposium on Mathematical Theory of Networks and Systems, Padoue, Italy.  Corrales, J.A., F. A. Candelas and F. Torres (2008). Hybrid Tracking of Human Operators using IMU/UWB Data Fusion by a Kalman Filter. In: Third ACM/IEEE International Conference on Human-Robot Interaction. pp. 193-200, Amsterdam.  Dongming, Z. and Songtao, L. (2005). A 3D image processing method for manufacturing process automation. Computers in Industry, 56, 975-985.  Garcia, G. J., Pomares, J. and Torres, F. (2007). A new time-independent image path tracker to guide robots using visual servoing. 12th IEEE International Conference on Emerging Technologies and Factory Automation. Patras (Greece).  Garcia, G. J., Pomares, J. and Torres, F. (2007). Robot guidance by estimating the force-image interaction matrix. IFAC International Workshop on Intelligent Manufacturing Systems 2007. Alicante (Spain).  Gil, P., Pomares, J., Puente, S.T., Diaz, C., Candelas, F., Torres, F. (2007). Flexible multi-sensorial system for automatic disassembly using cooperative robots. Computer Integrated Manufacturing, 20(8), 757-772.  Hutchinson, S., Hager, G. D. and Corke, P. I. (1996). A tutorial on visual servo control. IEEE Trans. Robotics and Automation, 12(5), 651-670.  Kosmopoulos, D., Varvarigou, T. (2001). Automated inspection of gaps on the automobile production line through stereo vision and specula reflection. Computers in Industry, 46, 49-63.  Motai, Y. (2005). Salient feature extraction of industrial objects for an automated assembly system. Computers in Industry, 56, 943-957.  Pauli, J., Schmidt, A. and Sommer, G. (2001). Vision-based integrated system for object inspetion and handling. Robotics and Autonomous Systems, 37, 297-309.  Pomares, J. and Torres, F. (2005). Movement-flow based visual servoing and force control fusion for manipulation tasks in unstructured environments. IEEE Transactions on Systems, Man, and Cybernetics--Part C, 35(1), 4 - 15.  Puente, S.T. and Torres, F. (2004), Automatic screws removal in a disassembly process. In 1st CLAWAR/EURON Workshop on Robots in Entertainment, Leisure and Hobby.  Son, C. (2002). Optimal control planning strategies with fuzzy entropy and sensor fusion for robotic part assembly tasks. International Journal of Machine Tools and Manufacture, 42, 1335-13.