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Multi-sensor controlled assembly and application with manipulators

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dc.contributor.author Roebrock, Philipp
dc.date.accessioned 2021-05-18T08:23:59Z
dc.date.available 2021-05-18T08:23:59Z
dc.date.issued 2009
dc.identifier.citation Roebrock, Philipp. Multi-sensor controlled assembly and application with manipulators. Timişoara: Editura Politehnica, 2009 en_US
dc.identifier.isbn 9789736258237
dc.identifier.uri http://localhost:8080/xmlui/handle/123456789/23
dc.description.abstract This thesis addresses the fieid of visual servoing and deals with solution nnethods for the non-adaptive estimation of the Jacobian in learning approaches for visual servoing. Sensors are taken as abstract sources of Information that are used to identify robot movements by linearizing the coherence between sensor data deviations and robot position deviations in a Taylor expansion with a Jacobian. We compare different methods to determine the Jacobian from learning data such as the inversion of the Feature Jacobian or the direct solution of an over-determined system, regarding the properties of practicai relevance for visual servoing appiications like the flexibility of the calculation and the quality and the stability of the result. In the conclusion, we are able to suggest a procedure to extract the Jacobian out of learning data. The analyzes are illustrated by multiple examples from real worid experiments. Another part of this work deals with an effect that occurs when collecting learning data; a non-linearity of hysteresis-type in the samples of robot positions and the sensor data. This effect can cause problems when identifying the system with some of the previousiy mentioned methods. We explain the origin of this effect (overlay of sampling delays and mechanical robot effects) and discuss methods for the determination and compensation of the effect in the learning data. en_US
dc.language.iso en en_US
dc.publisher Timişoara: Editura Politehnica en_US
dc.relation.ispartofseries 7 Inginerie Electronică şi Telecomunicaţii;11
dc.subject Roboţi industriali en_US
dc.subject Identificarea mişcării en_US
dc.subject Roboţi en_US
dc.subject Teză de doctorat en_US
dc.title Multi-sensor controlled assembly and application with manipulators en_US
dc.type Thesis en_US

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