Robot positioning of flexible-link manipulator using vision

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dc.contributor.authorKüçük, Haluk
dc.contributor.authorParker, Gordon G.
dc.contributor.authorBaumgartner, Eric T.
dc.date.accessioned13.07.201910:50:10
dc.date.accessioned2019-07-16T08:24:50Z
dc.date.available13.07.201910:50:10
dc.date.available2019-07-16T08:24:50Z
dc.date.issued2004
dc.departmentMühendislik Fakültesi
dc.description.abstractVision-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.
dc.identifier.doi10.1017/S0263574703005629
dc.identifier.endpage307en_US
dc.identifier.issn0263-5747
dc.identifier.issue3en_US
dc.identifier.scopusqualityQ1
dc.identifier.startpage301en_US
dc.identifier.urihttps://dx.doi.org/10.1017/S0263574703005629
dc.identifier.urihttps://hdl.handle.net/20.500.12451/2973
dc.identifier.volume22en_US
dc.indekslendigikaynakScopus
dc.language.isoen
dc.relation.ispartofRobotica
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.subjectCamera Space Manipulation
dc.subjectMachine Vision
dc.subjectRobot
dc.subjectVision System
dc.titleRobot positioning of flexible-link manipulator using vision
dc.typeArticle

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