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

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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.