{"title":"Object pose estimation based on one-degree-of-freedom sensor","authors":"T. Heikkila","doi":"10.1109/IROS.1990.262512","DOIUrl":null,"url":null,"abstract":"A method for determining the six degrees-of-freedom geometric relation between two objects is described. It is based on utilizing a combination of a simple fibre-optic proximity sensor and robot motions. The basic principle is to estimate the six translational and orientational parameters describing the geometric relation between two objects with Newton's method. Experimental tests show that the method is well applicable for correcting robot motions from gripping errors.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"77 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.1990.262512","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 2
Abstract
A method for determining the six degrees-of-freedom geometric relation between two objects is described. It is based on utilizing a combination of a simple fibre-optic proximity sensor and robot motions. The basic principle is to estimate the six translational and orientational parameters describing the geometric relation between two objects with Newton's method. Experimental tests show that the method is well applicable for correcting robot motions from gripping errors.<>
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