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dc.contributor.authorBjerkeng, Magnus
dc.contributor.authorPettersen, Kristin Ytterstad
dc.contributor.authorKyrkjebø, Erik
dc.date.accessioned2018-01-09T12:56:46Z
dc.date.available2018-01-09T12:56:46Z
dc.date.created2012-02-20T14:25:07Z
dc.date.issued2011
dc.identifier.citation2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)nb_NO
dc.identifier.isbn9781612844541
dc.identifier.urihttp://hdl.handle.net/11250/2476437
dc.description.abstractIn this paper, we present a solution and experimental results for real-time control of manipulation tasks considering the alignment of a robots end effector relative to some reference. The developed controller is applicable to industrial manipulators and is based on the pseudoinverse redundancy resolution method. The application considered is the employment of two industrial robots in an offshore remote inspection and maintenance system. A leader robot is controlled freely from onshore, and a follower robot uses an attached camera to provide the onshore operator with live video feed of the ongoing operation. Robot manipulators constitute flexible camera platforms, compared to e.g. simple pan/tilt units, for monitoring offshore operations. We develop a controller for the follower robot such that automatic camera tracking is achieved using pseudoinverse redundancy resolution control. A minimal task space parametrization relying on stereographic projection is constructed which achieves relative end effector alignment tracking without introducing representational or algorithmic singularities. It is shown that singular configurations will only in special cases affect the closed loop behavior. The controller is applicable to tasks such as spray painting or polishing on curved surfaces. The control approach is experimentally validated on two Kuka KR-16 industrial robot manipulators.nb_NO
dc.language.isoengnb_NO
dc.publisherIEEEnb_NO
dc.relation.ispartof2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) : September 25-30, 2011
dc.titleStereographic projection for industrial manipulator tasks: Theory and experimentsnb_NO
dc.typeChapternb_NO
dc.typeConference objectnb_NO
dc.source.pagenumber4676-4683nb_NO
dc.identifier.doi10.1109/IROS.2011.6095148
dc.identifier.cristin910717
dc.description.localcode© 2011 IEEE. This is the authors' accepted version of the manuscript. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.nb_NO
cristin.unitcode194,63,25,0
cristin.unitnameInstitutt for teknisk kybernetikk
cristin.ispublishedtrue
cristin.fulltextpostprint
cristin.qualitycode1


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