Integration of Vision and Force Feedback for the Synthesis and Execution of Error-Tolerant Robot Motion Plans

该项目的目标是集成视觉和力反馈，以合成和执行容错机器人运动计划。具体地说，一个纯粹的几何表示视觉约束的视觉约束表面进行了探索。视觉约束曲面是由对象特征（如边缘）及其在监控摄像机图像平面上的投影定义的直纹曲面。控制方案的规划是为了促进：服从视觉约束面的运动；与视觉约束面接触时终止的运动；同时受到视觉和物理约束的运动。对现有的预像式运动规划器的扩展将使利用视觉和力传感器的执行时间反馈的运动计划的综合成为可能。虽然在运动规划和控制与力反馈和使用视觉反馈的运动控制领域已经做了很多工作，但迄今为止还没有报道的系统能够基于视觉反馈创建运动计划或能够将力和视觉传感集成到运动控制中。这项研究解决了这些问题中的每一个。

The objective of this project is the integration of vision and force feedback for the synthesis and execution of error-tolerant robot motion plans. Specifically, a purely geometric representation of visual constraints in terms of visual constraint surfaces is explored. A visual constraint surface is a ruled surface defined by an object feature (such as an edge) and its projection onto the image plans of a supervisory camera. Control schemes are planned to facilitate: motion that complies to a visual constraint surface; motion that terminated on contact with a visual constraint surface; and, motion that is simultaneously constrained by visual and physical constraint surfaces. Extensions to existing preimage style motion planners will make possible the synthesis of motion plans that exploit execution-time feedback from vision and force sensors. While much work has been done in the areas of motion planning and control with force feedback and motion control using visual feedback, to date there has been no reported system capable of creating motion plans based on visual feedback or capable of integration of both force and vision sensing for motion control. This research addresses each of these issues.