The latest video clips of "assembly in motion" are here. The rest of this page shows videos of former projects (before 2006).

Adaptation of a Positional Controller

This sections shows video clips of accurate positional control of robot arms without using a sensor which measures the environment.

• Motion for adaptation of a coarse model of the inner loop (executed only once)

  Time: 7 s Size:320 kB, 1200 kB Short explanation of the experiment Related publications: Applied Machine Vision Ph.D. Thesis Advanced Robotics IROS94

• Motion for adaptation of a feedforward controller (executed repeatedly until convergence)

  Time: 2 s Size: 120 kB, 460 kB Short explanation of the experiment Related publications: Applied Machine Vision Ph.D. Thesis Advanced Robotics IROS94

• Performance
  

Control Using a Force / Torque Sensor

This sections shows video clips of experiments to control of a robot arm in order to keep a nominal force measured by a wrist mounted sensor.

• Sensing a contour using a force-/torque sensor

  Time: 26 s Size: 573 kB, 1590 kB Short explanation of the experiment Related publications: MFI01 ROBOTIK2000 ICRA96

• High speed following of a sensed contour (without use of a force sensor)

  Time: 4 s Size: 114 kB, 309 kB Short explanation of the experiment Related publications: MFI01 ROBOTIK2000 ICRA96 IROS94

Control Using a Camera

This section shows video clips of experiments in which the path of a robot arm is refined by camera images. (Click here for experiments without predictive image evaluation)

• Control of position and orientation in the horizontal plane
  (Click here for other experiments with control in the horizontal plane including tests with another method)

  Experiment seen from a fixed camera
  	Time: 5 s Size: 120 kB, 600 kB Short explanation of the experiment Related publication: The Int. Journal of Rob. Research
  View from the end-effector mounted camera
  	Time: 5 s Size: 240 kB, 670 kB

• Control of position in space
  (Click here for other experiments with spatial control)

  Experiment seen from a fixed camera
  	Time: 5 s Size: 190 kB, 760 kB Short explanation of the experiment Related publication: Applied Machine Vision Int. Symp. on Robotics
  View from the end-effector mounted camera
  	Time: 5 s Size: 400 kB, 920 kB
  Performance (note the different scales)

• Impedance-based smoothing
  (Click here for other experiments without continuous lines)

  Experiment seen from a fixed camera
  	Time: 4 s Size: 190 kB, 870 kB Short explanation of the experiment Related publication: Int. Symp. on Robotics Symp. on Robot Control
  View from the end-effector mounted camera
  	Time: 4 s Size: 360 kB, 750 kB
  Performance (note the different scales)

Other Video Clips

The following pages correspond to papers. The listed videos have been presented at conferences or submitted for multimedia proceedings. The most important of these videos can be accessed directly from above on this page.