DocumentCode
3483335
Title
Object pose estimation based on one-degree-of-freedom sensor
Author
Heikkilä, Tapio
Author_Institution
Electron. Lab., Tech. Res. Centre of Finland, Oulu, Finland
fYear
1990
fDate
3-6 Jul 1990
Firstpage
903
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Proceedings. IROS '90. IEEE International Workshop on
Conference_Location
Ibaraki
Type
conf
DOI
10.1109/IROS.1990.262512
Filename
262512
Link To Document