Title :
Reliable automatic plan selection for visual robotic positioning
Author :
McInroy, John E. ; Saridis, George N.
Author_Institution :
NASA CIRSSE, Rensselaer Polytech. Inst., Troy, NY, USA
Abstract :
Reliability analysis techniques developed for robotics are applied to a 6 d.o.f. visual positioning system. The task is to measure an object´s pose and then grip the object reliably subject to time and accuracy constraints. Errors due to pixel truncation in the stadimetric vision system, forward kinematic and inverse kinematic uncertainties, and joint position and velocity noise are stochastically modeled. Simulation results for PUMA 500 kinematic and dynamic characteristics are presented
Keywords :
computer vision; position control; reliability; robots; 6 d.o.f. system; PUMA 500; automatic plan selection; dynamic characteristics; forward kinematic uncertainties; inverse kinematic uncertainties; joint position noise; pixel truncation errors; pose measurement; reliability analysis; stadimetric vision system; velocity noise; visual robotic positioning; Automatic control; Geometry; Grippers; Kinematics; Machine vision; NASA; Robot sensing systems; Robotics and automation; Time factors; Time measurement; Uncertainty;
Conference_Titel :
Decision and Control, 1991., Proceedings of the 30th IEEE Conference on
Conference_Location :
Brighton
Print_ISBN :
0-7803-0450-0
DOI :
10.1109/CDC.1991.261668
