DocumentCode :
346657
Title :
Calibrated virtual reality supported by stereo vision in intelligent robot control system
Author :
Tóth, Ervin ; Tél, Ferenc
Author_Institution :
Dept. of Control Eng. & Inf. Technol., Tech. Univ. Budapest, Hungary
Volume :
1
fYear :
1999
fDate :
1999
Firstpage :
287
Abstract :
More and more robot control systems require intelligent extensions such as vision or virtual reality (VR) system in order to be capable of easy and flexible interaction with the environment or humans. This paper describes the stereo vision, virtual reality and off-line programming part of the intelligent control system of the Puma 560 robot and the dextrous hand developed at the Technical University of Budapest. With the use of the detailed graphic models of the VR system, efficient off-line robot programming and simulation of the contact forces between the hand and the grasped object is available. A simple robot programming language, which was written specifically for this robot-hand system, is introduced
Keywords :
dexterous manipulators; industrial manipulators; intelligent control; robot programming; robot vision; stereo image processing; virtual reality; Puma 560 robot; Technical University of Budapest; calibrated virtual reality; contact forces; dextrous hand; grasped object; intelligent control system; intelligent robot control system; off-line programming; off-line robot programming; robot control systems; robot programming language; robot-hand system; stereo vision; virtual reality; Graphics; Humans; Intelligent control; Intelligent robots; Intelligent systems; Robot control; Robot programming; Robot vision systems; Stereo vision; Virtual reality;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Electronics, 1999. ISIE '99. Proceedings of the IEEE International Symposium on
Conference_Location :
Bled
Print_ISBN :
0-7803-5662-4
Type :
conf
DOI :
10.1109/ISIE.1999.801800
Filename :
801800
Link To Document :
بازگشت