Title :
On sensor feedback for gripping an object within prescribed posture tolerances
Author :
Wernersson ; Boberg ; Nilsson ; Nygårds ; Rydberg
Author_Institution :
Linkoping Univ., Sweden
Abstract :
The problem addressed is sensor feedback for guiding a robot to the correct gripping point and to arrive within the prescribed tolerances. The solution is divided into three parts, the extraction of posture parameters from a range camera dynamic filtering to reduce spurious responses and a linear quadratic Gaussian designed feedback law to guide the robot to the correct gripping point. The prescribed tolerances were reached within a reasonable time. For transparent results a mobile was considered with three state variables. This is a first simple case toward a unified theory of tolerance controlled gripping
Keywords :
computer vision; control system synthesis; feature extraction; feedback; manipulators; optimal control; position control; gripping; linear quadratic Gaussian; manipulators; position control; posture parameter extraction; range camera dynamic filtering; range measurement; robot; sensor feedback; unified theory; Cameras; Dynamic range; Feedback; Grippers; Mechanical sensors; Mechanical systems; Robot kinematics; Robot sensing systems; Robot vision systems; Stochastic processes;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.220140
