Title :
3-D dual-drive robot control for object recognition
Author :
Korzeniowski, Kelly A. ; Wolovich, William A.
Author_Institution :
Dept. of Electr. Eng., US Naval Acad., Annapolis, MD, USA
fDate :
29 June-1 July 1994
Abstract :
This work describes the development and testing of a 3-D dual-drive surface tracking controller that enables a robot to track along any specified path on the surface of an object. The dual-drive controller computes the normal and tangent vectors relative to movement along the path. The result is controlled movement in 3-D on the surface of an object. This continuous-contact tracking method makes it possible for accurate, dense data sets to be collected in a short period of time. A recognition experiment is performed to show that the data collected from the surface of complex objects can be used for identification.
Keywords :
matrix multiplication; object recognition; position control; robot vision; tracking; 3-D dual-drive surface tracking controller; complex objects; continuous-contact tracking method; normal vectors; object recognition; recognition experiment; tangent vectors; Control systems; End effectors; Force control; Machine vision; Object recognition; Robot control; Robot sensing systems; Testing; Tiles; Velocity control;
Conference_Titel :
American Control Conference, 1994
Print_ISBN :
0-7803-1783-1
DOI :
10.1109/ACC.1994.752289
