Integration of Vision/force Robot Control using Automatic Decision System for Performing Different Successive Tasks

Conference: ISR/Robotik 2014 - 45th International Symposium on Robotics; 8th German Conference on Robotics
06/02/2014 - 06/03/2014 at München, Germany

Proceedings: ISR/Robotik 2014

Pages: 8Language: englishTyp: PDF

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Authors:
Bdiwi, Mohamad (Department of Joining and Assembling, Fraunhofer-Institute IWU, Chemnitz, Germany)
Suchy, Jozef (Department of Robotic Systems, Chemnitz University of Technology, Chemnitz, Germany)

Abstract:
We divide vision/force robot control into six types: pure position control, pure force control, traded control, shared control, vision/guarded-force control and hybrid control. The most important questions during performing a task required vision/force control are: Which subspaces should be vision, commanded position or force controlled; 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 another one. Answering these questions and defining the robot control structure is not always an easy task especially for the inexperienced user. In this work an automatic decision system is suggested to define the most appropriate control mode for successive tasks and to reduce the human intervention during the execution of the task.