Title :
Robotic motion planning and manipulation in an uncalibrated environment
Author :
Ghosh, Bijoy K. ; Tarn, Tzhy Jong ; Xi, Ning ; Yu, Zhenyu ; Xiao, Di
Author_Institution :
Washington Univ., St. Louis, MO, USA
fDate :
12/1/1998 12:00:00 AM
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 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
Keywords :
CCD image sensors; manipulators; path planning; robot vision; CCD camera based vision sensor; PUMA 560 robotic manipulator; encoder; industrial automation; part-feeding; robotic motion planning; rotating part tracking; rotating turntable; tool-changing; uncalibrated environment; Calibration; Cameras; Charge coupled devices; Charge-coupled image sensors; Manipulator dynamics; Motion planning; Robot motion; Robot sensing systems; Robot vision systems; Shape;
Journal_Title :
Robotics & Automation Magazine, IEEE