Utilizing sensor data redundancy to gain robustness in the control of calibration-free robots

摘要

In vision-based robot control typically more sensor data are available than the minimum necessary for computing robot control commands. We propose an approach for utilizing the redundant sensor data to improve the robustness of robot control. It is based on a novel method for taking into account all available measurements in solving the resulting over-determined system of equations for the robot control commands. The approach has been evaluated in computer simulations and in real-world manipulation experiments with a calibration-free robot. It has proven to be suitable for a real-time implementation and to lead to a more robust control than conventional methods.