6 accepted papers
This paper presents a new method for correspondence estimation between a previously known topology of a branched deformable linear object and an image representation from a 3D stereo camera. Although frequently encountered in production, robotic deformable linear object manipulation still lacks reli…
The objective of this letter is to propose a drive-based control method for damping joint vibrations in order to improve the machining quality and the productivity of robot machining. The machining quality is significantly determined by the transfer behavior of the gearboxes installed in the robot j
Control and localization of deformable linear objects (DLOs) require models to handle their deformation. This paper proposes an approach to automatically generate a model from available visual sensor information. Based on point cloud data obtained from a 3D stereo camera, the kinematics of a multibo…
The need for temporal and spatial coordination of two robot arms moving independently in a shared workspace frequently arises in industrial and service-oriented robotics alike. Today, this problem is often solved manually, leading to a negative impact on user experience as well as on execution perfo…
High accurate absolute robot positioning is a requirement, and still a challenge, in many applications, such as drilling in the aerospace industry. The accuracy is affected due to many sources of errors from robot model, tool calibration, sensor and product uncertainties. While model-based error com
In many robotic processes such as milling and drilling, there are multiple solutions for robot poses, as the rotation around the tool axis remains as a degree of freedom (DoF) in positioning. Yet until now, this DoF causes additional efforts in CAM programming as it requires manual intervention. Ins…