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Titolo:
Robotic motion planning and manipulation in an uncalibrated environment
Autore:
Ghosh, BK; Tarn, TJ; Xi, N; Yu, ZY; Xiao, D;
Indirizzi:
Washington Univ, St Louis, MO 63130 USA Washington Univ St Louis MO USA 63130 ington Univ, St Louis, MO 63130 USA Michigan State Univ, Dept Elect Engn, E Lansing, MI 48824 USA Michigan State Univ E Lansing MI USA 48824 Engn, E Lansing, MI 48824 USA Texas Instruments Inc, DSP Digital Control Syst Applicat, Houston, TX USA Texas Instruments Inc Houston TX USA trol Syst Applicat, Houston, TX USA Robot N Amer Inc, FANUC, Rochester, MI 48309 USA Robot N Amer Inc Rochester MI USA 48309 c, FANUC, Rochester, MI 48309 USA
Titolo Testata:
IEEE ROBOTICS & AUTOMATION MAGAZINE
fascicolo: 4, volume: 5, anno: 1998,
pagine: 50 - 57
SICI:
1070-9932(199812)5:4<50:RMPAMI>2.0.ZU;2-5
Fonte:
ISI
Lingua:
ENG
Soggetto:
VISION;
Keywords:
Multisensor Fusion; virtual rotation; parallel guidance; event base;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
Engineering, Computing & Technology
Citazioni:
12
Recensione:
Indirizzi per estratti:
Indirizzo: Ghosh, BK Washington Univ, 1 Brookings Dr, St Louis, MO 63130 USA Washington Univ 1 Brookings Dr St Louis MO USA 63130 O 63130 USA
Citazione:
B.K. Ghosh et al., "Robotic motion planning and manipulation in an uncalibrated environment", IEEE ROB AU, 5(4), 1998, pp. 50-57

Abstract

The authors analyze planning and control problems in "Robotic Manipulation" in an uncalibrated environment consisting of a PUMA 560 robotic manipulator, a rotating turntable equipped with an encoder and a CCD camera based vision sensor fixed permanently on the ceiling. It is assumed that a part with a known shape but unknown orientation is placed on the turntable which isrotating with an unknown motion dynamics. Furthermore, the calibration parameters are a priori assumed to be unknown. The objective is to track the rotating part with an a priori specified relative orientation. The task considered is of importance in various problems concerning industrial automation, such as part-feeding and tool-changing.

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Documento generato il 27/11/20 alle ore 22:07:14