Title :
Path generation with a universal 3d sensor
Author :
Gutsche, R. ; Stahs, T. ; Wahl, F.M.
Author_Institution :
Inst. for Robotics & Comput. Control, Tech. Univ. of Braunschweig, Germany
Abstract :
The integration of a three-dimensional sensor into a robot workcell is described. The sensor is based on the well-known coded light approach (CLA). The CCD camera of the CLA is mounted at the robot´s hand and one or more projectors are fixed outside the robot´s work space. The principle of the CLA and the calibration of th robot-sensor-system are explained. An application in which the tool of the robot follows an unknown path on an arbitrary surface is presented. For evaluation reasons the deviation from the surface coordinates are simultaneously measured by a gage, allowing a quantitative error analysis
Keywords :
CCD image sensors; calibration; computer vision; industrial robots; position control; CCD camera; calibration; coded light approach; computer vision; path generation; quantitative error analysis; robot workcell; universal 3d sensor; unknown path; Calibration; Cameras; Charge coupled devices; Charge-coupled image sensors; Coordinate measuring machines; Orbital robotics; Robot kinematics; Robot sensing systems; Robot vision systems; Sensor phenomena and characterization;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131692
