Robotic Motion Planning and Manipulation in An Uncalibrated Enviroment  

Oleh:

Ghosh, B. K. ; Tarn, Tzyh Jong ; Xi, Ning ; Yu, Zhenyu ; Xiao, Di

Jenis: Article from Bulletin/Magazine
Dalam koleksi: Robotics & Automation Magazine vol. 5 no. 4 (1998), page 50-57.
Topik: GENE MANIPULATION; robotic; motion planning; manipulation; environment

Ketersediaan

Perpustakaan Pusat (Semanggi) Nomor Panggil: RR9.4 Non-tandon: 1 (dapat dipinjam: 0) Tandon: tidak ada

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Isi artikel

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 is rotating 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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