Title :
Object pose estimation based on one-degree-of-freedom sensor
Author_Institution :
Electron. Lab., Tech. Res. Centre of Finland, Oulu, Finland
Abstract :
A method for determining the six degrees-of-freedom geometric relation between two objects is described. It is based on utilizing a combination of a simple fibre-optic proximity sensor and robot motions. The basic principle is to estimate the six translational and orientational parameters describing the geometric relation between two objects with Newton´s method. Experimental tests show that the method is well applicable for correcting robot motions from gripping errors
Keywords :
fibre optic sensors; position control; robots; Newton´s method; fibre-optic proximity sensor; gripping errors; object pose estimation; one-degree-of-freedom sensor; orientational parameters; robot motions; six degrees-of-freedom geometric relation; translational parameters; Feedback; Grippers; Image sensors; Optical fiber sensors; Orbital robotics; Robot motion; Robot sensing systems; Robot vision systems; Robotic assembly; Sensor systems;
Conference_Titel :
Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Proceedings. IROS '90. IEEE International Workshop on
Conference_Location :
Ibaraki
DOI :
10.1109/IROS.1990.262512
