Robot positioning of flexible-link manipulator using vision
[ X ]
Date
2004
Journal Title
Journal ISSN
Volume Title
Publisher
Access Rights
info:eu-repo/semantics/closedAccess
Abstract
Vision-aided flexible link robot positoning using the Camera Space Manipulation (CSM) method is developed. The primary motivation for this work is to use an autonomous vision-aided robotic system to pick-up and accurately move a flexible object that it encounters. The work consists of analytical and experimental investigation of the performance of CSM for a kinematic model of the PUMA manipulator with a flexible structure at the wrist which accounts for the gravitation. Trade-offs between camera view parameters and axial deflection model parameters were investigated. View parameter reestimation and maneuvering resulted a very accurate placement of the end-effector at the target.
Description
Keywords
Camera Space Manipulation, Machine Vision, Robot, Vision System
Journal or Series
Robotica
WoS Q Value
Scopus Q Value
Q1
Volume
22
Issue
3
