Vision Based Identification and Force Control of Industrial Robots [Hardcover]

This book focuses on end-to-end robotic applications using vision and control algorithms, exposing its readers to design innovative solutions towards sensors-guided robotic bin-picking and assembly in an unstructured environment. The use of sensor fusion is demonstrated through a bin-picking task of texture-less cylindrical objects. The system identification techniques are also discussed for obtaining precise kinematic and dynamic parameters of an industrial robot which facilitates the control schemes to perform pick-and-place tasks autonomously without any interference from the user. The uniqueness of this book lies in a judicious balance between theory and technology within the context of industrial application. Therefore, it will be valuable to researchers working in the area of vision- and force control- based robotics, as well as beginners in this inter-disciplinary area, as it deals with the basics and technologically advanced research strategies.

Introduction.- Vision System and Calibration.- Uncertainty and Sensitivity Analysis.- Identi
cation.- Force Control and Assembly.- Integrated Assembly and Performance Evaluation.- Conclusion.- Vision and Uncertainty Analysis.- Robot Jacobian.- Code Snippets and Experimental Videos.

Dr. Abdullah Aamir Hayat received his Bachelor of Technology in Mechanical Engineering and Masters from the Zakir Hussain College of Engineering and Technology (ZHCET), AMU, India. He completed his Ph.D. in 2018 from the Department of Mechanical Engineering at Indian Institute of Technology (IIT) Delhi. He worked as a Junior Research Fellow (JRF) at the Programme for Autonomous Robotics (PAR) Laboratory under the project granted by BARC/BRNS Mumbai during his Ph.D. He assisted and provided solutions for the research organizations and companies like CMERI Durgapur, Brabo Robotics and Automation, TATA Motors, Pune India, and Oceania Robotics Singapore. He has