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Conference Paper: Planning and control of self calibrated manipulation for a robot on a mobile platform

TitlePlanning and control of self calibrated manipulation for a robot on a mobile platform
Authors
Issue Date1997
Citation
Proceedings - IEEE International Conference on Robotics and Automation, 1997, v. 2, p. 1406-1411 How to Cite?
AbstractIn this paper, we propose a new serf-calibrated manipulation scheme for a robot on a mobile platform. The essence of our scheme is to extend our earlier proposed multi-sensor based observation scheme to a situation where the location of the mobile platform is unknown. A new self calibrated manipulation scheme is proposed to determine the position and orientation of the part with respect to the coordinate system attached to the base of the robot manipulator. The novelties of the proposed approach can be summarized as (i) multi-sensor fusion scheme based on complementary data for the purpose of part localization, (ii) part tracking and grasping control based on parallel tracking, and (iii) self. calibration of the location of the mobile platform using visual data and feature points on the end-effector. The principle advantages of the proposed scheme are described as follows. (i) It renders possible to reconfigure a manufacturing workcell without recalibrating the robot based coordinate frame. This significantly reduces the setup time of the workcell. (ii) It significantly reduces the requirement on the image processing speed. Experimental study of the proposed scheme has been carried out and the results are reported in this paper.
Persistent Identifierhttp://hdl.handle.net/10722/212681
ISSN

 

DC FieldValueLanguage
dc.contributor.authorXiao, Di-
dc.contributor.authorGhosh, Bijoy K.-
dc.contributor.authorXi, Ning-
dc.contributor.authorTarn, Tzyh Jong-
dc.date.accessioned2015-07-28T04:04:40Z-
dc.date.available2015-07-28T04:04:40Z-
dc.date.issued1997-
dc.identifier.citationProceedings - IEEE International Conference on Robotics and Automation, 1997, v. 2, p. 1406-1411-
dc.identifier.issn1050-4729-
dc.identifier.urihttp://hdl.handle.net/10722/212681-
dc.description.abstractIn this paper, we propose a new serf-calibrated manipulation scheme for a robot on a mobile platform. The essence of our scheme is to extend our earlier proposed multi-sensor based observation scheme to a situation where the location of the mobile platform is unknown. A new self calibrated manipulation scheme is proposed to determine the position and orientation of the part with respect to the coordinate system attached to the base of the robot manipulator. The novelties of the proposed approach can be summarized as (i) multi-sensor fusion scheme based on complementary data for the purpose of part localization, (ii) part tracking and grasping control based on parallel tracking, and (iii) self. calibration of the location of the mobile platform using visual data and feature points on the end-effector. The principle advantages of the proposed scheme are described as follows. (i) It renders possible to reconfigure a manufacturing workcell without recalibrating the robot based coordinate frame. This significantly reduces the setup time of the workcell. (ii) It significantly reduces the requirement on the image processing speed. Experimental study of the proposed scheme has been carried out and the results are reported in this paper.-
dc.languageeng-
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automation-
dc.titlePlanning and control of self calibrated manipulation for a robot on a mobile platform-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-0030689430-
dc.identifier.volume2-
dc.identifier.spage1406-
dc.identifier.epage1411-

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