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Conference Paper: Multi-sensor based planning and control for robotic manufacturing systems

TitleMulti-sensor based planning and control for robotic manufacturing systems
Authors
Issue Date1995
Citation
IEEE International Conference on Intelligent Robots and Systems, 1995, v. 3, p. 222-227 How to Cite?
AbstractA multi-sensor based planning and control scheme for robotic manufacturing is presented in this paper. The proposed approach fuses sensory information from various sensors at different temporal and spatial scales in an event-based planning and control scheme. By combining the measurement of an encoder sensor, relative spatial information obtained from processing of visual measurement is mapped to absolute task-space of robot, delayed data obtained from displacement based vision algorithm that represent absolute part position measurement is brought to current. A four-step approach to planning and control of robotic manipulator is discussed. An event-driven tracking and control scheme that is based on multi-sensor information is given. The approach is illustrated by considering a manufacturing workcell where the manipulator is commanded to pick up a part on a disc conveyor under the guidance of computer vision.
Persistent Identifierhttp://hdl.handle.net/10722/212662

 

DC FieldValueLanguage
dc.contributor.authorYu, Zhenyu-
dc.contributor.authorGhosh, Bijoy K.-
dc.contributor.authorXi, Ning-
dc.contributor.authorTarn, Tzyh Jong-
dc.date.accessioned2015-07-28T04:04:36Z-
dc.date.available2015-07-28T04:04:36Z-
dc.date.issued1995-
dc.identifier.citationIEEE International Conference on Intelligent Robots and Systems, 1995, v. 3, p. 222-227-
dc.identifier.urihttp://hdl.handle.net/10722/212662-
dc.description.abstractA multi-sensor based planning and control scheme for robotic manufacturing is presented in this paper. The proposed approach fuses sensory information from various sensors at different temporal and spatial scales in an event-based planning and control scheme. By combining the measurement of an encoder sensor, relative spatial information obtained from processing of visual measurement is mapped to absolute task-space of robot, delayed data obtained from displacement based vision algorithm that represent absolute part position measurement is brought to current. A four-step approach to planning and control of robotic manipulator is discussed. An event-driven tracking and control scheme that is based on multi-sensor information is given. The approach is illustrated by considering a manufacturing workcell where the manipulator is commanded to pick up a part on a disc conveyor under the guidance of computer vision.-
dc.languageeng-
dc.relation.ispartofIEEE International Conference on Intelligent Robots and Systems-
dc.titleMulti-sensor based planning and control for robotic manufacturing systems-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-0029181462-
dc.identifier.volume3-
dc.identifier.spage222-
dc.identifier.epage227-

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