DocumentCode :
2637732
Title :
A single camera, calibration free estimation and tracking scheme with multi-sensor fusion in a manufacturing workcell
Author :
Xiao, Di ; Ghosh, Bijoy K. ; Xi, Ning ; Tarn, Tzyh Jong
Author_Institution :
Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA
fYear :
1996
fDate :
8-11 Dec 1996
Firstpage :
679
Lastpage :
686
Abstract :
The problem of tracking and grasping a moving part on a rotating turntable with the aid of a robotic manipulator is considered. The position and orientation of the part with respect to the turntable is assumed to be apriori unknown. Likewise the position and orientation of the robot with respect to the turntable is also assumed to be apriori unknown. In the algorithm described in this paper, the position and orientation information are estimated visually and recursively updated. The procedure involves “sensor fusion” with encoders placed on the turntable and encoders on the robot. Having obtained a good estimate of the position and orientation of the part with respect to the base frame of the robot, the manipulator is controlled to track and grasp the moving part. The operation of grasping has been demonstrated experimentally. The paper emphasizes various cases of the estimation scheme as a result of choosing various geometric cues on the end effector
Keywords :
industrial manipulators; manipulators; robot vision; sensor fusion; target tracking; tracking; encoders; end effector; geometric cues; manufacturing workcell; moving part grasping; moving part tracking; multisensor fusion; robotic manipulator; rotating turntable; sensor fusion; single-camera calibration-free estimation; Calibration; Cameras; Charge coupled devices; Charge-coupled image sensors; Feedback loop; Manipulators; Manufacturing; Robot control; Robot vision systems; Robustness;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Multisensor Fusion and Integration for Intelligent Systems, 1996. IEEE/SICE/RSJ International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-3700-X
Type :
conf
DOI :
10.1109/MFI.1996.572246
Filename :
572246
Link To Document :
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