Title :
Real-Time Robot Joint Variable Extraction from a Laser Scanner
Author :
Kashani, A.H. ; Owen, W.S. ; Lawrence, P.D. ; Hall, R.A.
Author_Institution :
Univ. of British Columbia, Vancouver
Abstract :
This paper describes a customized iterative closest point (ICP) algorithm for robot excavator bucket pose estimation and joint angle evaluation using a laser scanner. The proposed ICP variant handles noise, occlusion and partial- overlapping. The method has been tested on a Takeuchi mini-excavator and proved to be reliable with minimal workspace error. The angle estimations were found to be accurate. A comparison has been provided between the angle estimation results and the measurements from joint angle sensors.
Keywords :
control engineering computing; excavators; iterative methods; mining equipment; mobile robots; optical scanners; pose estimation; production engineering computing; iterative closest point algorithm; joint angle evaluation; laser scanner; real-time robot joint variable extraction; robot excavator bucket pose estimation; Iterative algorithms; Iterative closest point algorithm; Laser modes; Laser radar; Logistics; Mechanical sensors; Mining equipment; Mining industry; Robotics and automation; Robots;
Conference_Titel :
Automation and Logistics, 2007 IEEE International Conference on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-1531-1
DOI :
10.1109/ICAL.2007.4339095
