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Conference Paper: Calibration free visually controlled manipulation of parts in a robotic manufacturing workcell

TitleCalibration free visually controlled manipulation of parts in a robotic manufacturing workcell
Authors
Issue Date1996
Citation
Proceedings - IEEE International Conference on Robotics and Automation, 1996, v. 4, p. 3197-3202 How to Cite?
AbstractIn this paper we introduce a new approach to visually manipulate, with the aid of a robot manipulator, a part placed randomly on a rotating turntable. The highlight of our approach is that the camera and the robot end effector are both assumed to be uncalibrated. We only assume that the height of the robot end effector is known. Our approach utilizes virtual rotation of the camera via image processing not previously introduced in the literature. Finally the tracking scheme is implemented by planning the error and gradually forcing it to zero while maintaining the torque controls within acceptable limits. This way we demonstrate a new visually guided analytical tracking scheme.
Persistent Identifierhttp://hdl.handle.net/10722/212669
ISSN

 

DC FieldValueLanguage
dc.contributor.authorGhosh, Bijoy K.-
dc.contributor.authorTarn, Tzyh Jong-
dc.contributor.authorXi, Ning-
dc.contributor.authorYu, Zhenyu-
dc.contributor.authorXiao, Di-
dc.date.accessioned2015-07-28T04:04:37Z-
dc.date.available2015-07-28T04:04:37Z-
dc.date.issued1996-
dc.identifier.citationProceedings - IEEE International Conference on Robotics and Automation, 1996, v. 4, p. 3197-3202-
dc.identifier.issn1050-4729-
dc.identifier.urihttp://hdl.handle.net/10722/212669-
dc.description.abstractIn this paper we introduce a new approach to visually manipulate, with the aid of a robot manipulator, a part placed randomly on a rotating turntable. The highlight of our approach is that the camera and the robot end effector are both assumed to be uncalibrated. We only assume that the height of the robot end effector is known. Our approach utilizes virtual rotation of the camera via image processing not previously introduced in the literature. Finally the tracking scheme is implemented by planning the error and gradually forcing it to zero while maintaining the torque controls within acceptable limits. This way we demonstrate a new visually guided analytical tracking scheme.-
dc.languageeng-
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automation-
dc.titleCalibration free visually controlled manipulation of parts in a robotic manufacturing workcell-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-0029704944-
dc.identifier.volume4-
dc.identifier.spage3197-
dc.identifier.epage3202-

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