Improving detection of surface discontinuities in visualforce control systems
In this paper, a new approach to detect surface discontinuities in a visualforce control task is described. A task which consists in tracking a surface using visualforce information is shown. In this task, in order to reposition the robot tool with respect to the surface it is necessary to determine the surface discontinuities. This paper describes a new method to detect surface discontinuities employing sensorial information obtained from a force sensor, a camera and structured light. This method has proved to be more robust than previous systems even in situations where high frictions occur.
surface discontinuity recognition visualforce fusion visual robot guidance