Integrated sensor-based intelligent robot system

Author

Tzafestas, Spyros G.

Author_Institution

Div. of Comput. Eng., Nat. Tech. Univ., Athens, Greece

Volume

8

Issue

2

fYear

1988

fDate

4/1/1988 12:00:00 AM

Firstpage

61

Lastpage

72

Abstract

A description is given of the work of the European Economic Community ESPRIT 278 project, which is concerned with the development of an integrated sensor-based (tactile plus vision) robot system capable of intelligent action within the area of workpiece positioning and orientation. A vision system is used to provide an initial estimate of workpiece position and orientation, allowing the robot to grasp the object. During the grasping phase, the tactile sensor confirms, modifies, or improves the initial information provided by the vision system. The project is now at the final phase, and the integrated components show satisfactory performance.<>

Keywords

computer vision; computerised materials handling; industrial robots; manufacturing computer control; position measurement; research initiatives; tactile sensors; ESPRIT 278 project; computer vision; grasping; integrated sensor-based intelligent robot system; orientation; tactile sensor; workpiece positioning; Computer aided manufacturing; Control systems; Grippers; Intelligent robots; Intelligent sensors; Machine vision; Robot kinematics; Robot sensing systems; Robot vision systems; Service robots;

fLanguage

English

Journal_Title

Control Systems Magazine, IEEE

Publisher

ieee

ISSN

0272-1708

Type

jour

DOI

10.1109/37.1876

Filename

1876