Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97最新文献
Pub Date : 1997-09-07DOI: 10.1109/IROS.1997.648978
B. Cao, G. Dodds, G. Irwin
Planning for effective manipulation of single, redundant or multiple robot systems requires the consideration of the DOF, dexterity, tasks and constraints. A new approach to redundancy resolution for multiple cooperative robots is proposed. A relative Jacobian, thus relative dexterity, is clearly defined and derived for multiple robots. Sequential quadratic programming (SQP) is used to optimize the relative dexterity of the robots whilst satisfying task requirements and limits on joint angles. With this approach it is not necessary to balance the weightings between the performance index and those constraint terms in the cost function. Further the resulting joint configurations are globally optimal with respect to the specified cost. An illustrative example is included to demonstrate the usefulness of this approach. From this example, the relative dexterity of the arms has been found to be more useful than individual arm dexterities in planning the cooperative task.
{"title":"Optimal redundancy resolution for cooperative industrial robots","authors":"B. Cao, G. Dodds, G. Irwin","doi":"10.1109/IROS.1997.648978","DOIUrl":"https://doi.org/10.1109/IROS.1997.648978","url":null,"abstract":"Planning for effective manipulation of single, redundant or multiple robot systems requires the consideration of the DOF, dexterity, tasks and constraints. A new approach to redundancy resolution for multiple cooperative robots is proposed. A relative Jacobian, thus relative dexterity, is clearly defined and derived for multiple robots. Sequential quadratic programming (SQP) is used to optimize the relative dexterity of the robots whilst satisfying task requirements and limits on joint angles. With this approach it is not necessary to balance the weightings between the performance index and those constraint terms in the cost function. Further the resulting joint configurations are globally optimal with respect to the specified cost. An illustrative example is included to demonstrate the usefulness of this approach. From this example, the relative dexterity of the arms has been found to be more useful than individual arm dexterities in planning the cooperative task.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"185 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132225957","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1997-09-07DOI: 10.1109/IROS.1997.655086
N. Miyake, T. Aono, K. Fujii, Yuji Matsuda, S. Hatsumoto
A method for estimating the vehicle position by using a fiber optic gyroscope and wheel rotation encoders, as wall as a method for controlling the vehicle path using a path attracting force model, has been proposed. A method for improving the estimation accuracy by using the Global Positioning System (GPS), along with the above sensors, has also been proposed. An autonomous mobile robot is developed bases on a manually driven lawn-mower, and the performance of the proposed methods has been studied experimentally. The experimental results show the effectiveness of the proposed methods, and practicality as an autonomous lawn-mower has been confirmed.
{"title":"Position estimation and path control of an autonomous land vehicle","authors":"N. Miyake, T. Aono, K. Fujii, Yuji Matsuda, S. Hatsumoto","doi":"10.1109/IROS.1997.655086","DOIUrl":"https://doi.org/10.1109/IROS.1997.655086","url":null,"abstract":"A method for estimating the vehicle position by using a fiber optic gyroscope and wheel rotation encoders, as wall as a method for controlling the vehicle path using a path attracting force model, has been proposed. A method for improving the estimation accuracy by using the Global Positioning System (GPS), along with the above sensors, has also been proposed. An autonomous mobile robot is developed bases on a manually driven lawn-mower, and the performance of the proposed methods has been studied experimentally. The experimental results show the effectiveness of the proposed methods, and practicality as an autonomous lawn-mower has been confirmed.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124524086","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1997-09-07DOI: 10.1109/IROS.1997.655149
P. Rowe, A. Stentz
Presents an approach for real time planning and execution of the motions of complicated robotic systems. The approach is motivated by the observation that a robot's task can be described as a series of simple steps, or a script. The script is a general template which encodes knowledge for a class of tasks and is fitted to a specific instance of a task. The script receives information about its environment in the form of parameters, which it uses to bind variables in the template and allows it to deal with the current task conditions. Changes or variations in the robot's environment can be easily handled with this parameterized script approach. New tasks for the robot to perform can be added in the form of subscripts, which could handle exceptional cases. We apply this approach to the task of autonomous excavation, and demonstrate its validity on an actual hydraulic excavator. We obtain good results, with the autonomous system approaching the performance of an expert human operator.
{"title":"Parameterized scripts for motion planning","authors":"P. Rowe, A. Stentz","doi":"10.1109/IROS.1997.655149","DOIUrl":"https://doi.org/10.1109/IROS.1997.655149","url":null,"abstract":"Presents an approach for real time planning and execution of the motions of complicated robotic systems. The approach is motivated by the observation that a robot's task can be described as a series of simple steps, or a script. The script is a general template which encodes knowledge for a class of tasks and is fitted to a specific instance of a task. The script receives information about its environment in the form of parameters, which it uses to bind variables in the template and allows it to deal with the current task conditions. Changes or variations in the robot's environment can be easily handled with this parameterized script approach. New tasks for the robot to perform can be added in the form of subscripts, which could handle exceptional cases. We apply this approach to the task of autonomous excavation, and demonstrate its validity on an actual hydraulic excavator. We obtain good results, with the autonomous system approaching the performance of an expert human operator.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125164142","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1997-09-07DOI: 10.1109/IROS.1997.655088
A. Ohya, A. Kosaka, A. Kak
This paper describes a vision-based navigation method in an indoor environment for an autonomous mobile robot which can avoid obstacles. In this method, the self-localization of the robot is done with a mode-based vision system, and a non-stop navigation is realized by a retroactive position correction system. Stationary obstacles are avoided with single-camera vision and moving obstacles are detected with ultrasonic sensors. We report on experiments in a hallway using the YAMABICO robot.
{"title":"Vision-based navigation of mobile robot with obstacle avoidance by single camera vision and ultrasonic sensing","authors":"A. Ohya, A. Kosaka, A. Kak","doi":"10.1109/IROS.1997.655088","DOIUrl":"https://doi.org/10.1109/IROS.1997.655088","url":null,"abstract":"This paper describes a vision-based navigation method in an indoor environment for an autonomous mobile robot which can avoid obstacles. In this method, the self-localization of the robot is done with a mode-based vision system, and a non-stop navigation is realized by a retroactive position correction system. Stationary obstacles are avoided with single-camera vision and moving obstacles are detected with ultrasonic sensors. We report on experiments in a hallway using the YAMABICO robot.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"580 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134303952","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1997-09-07DOI: 10.1109/IROS.1997.655082
Sooyong Lee, H. Asada
In the traditional force-guided control schemes, the contact force measured by a force sensor is directly fed back to a feedback controller to generate a motion correction signal. The issue central to force guided robot control is how to obtain reliable, consistent and copious force signals and extract useful information in order to successfully guide the robot while keeping the contact force at a desired level. In this paper, instead of simply measuring contact forces, we take positive actions by giving perturbation to the end effector and observing the reaction forces to the perturbation in order to obtain much richer and more reliable information. By taking the correlation between the input perturbation and the resultant reaction forces, we can determine the gradient of the force profile and guide the part correctly. This algorithm is applied to a pipe insertion task, and connector assembly task. Based on the process model and stability analysis using the Popov stability criterion, conditions for stable, successful insertion despite nonlinearities and uncertainties in the environment are obtained. The theoretical results are verified using the experimental data.
{"title":"Assembly automation using perturbation/correlation","authors":"Sooyong Lee, H. Asada","doi":"10.1109/IROS.1997.655082","DOIUrl":"https://doi.org/10.1109/IROS.1997.655082","url":null,"abstract":"In the traditional force-guided control schemes, the contact force measured by a force sensor is directly fed back to a feedback controller to generate a motion correction signal. The issue central to force guided robot control is how to obtain reliable, consistent and copious force signals and extract useful information in order to successfully guide the robot while keeping the contact force at a desired level. In this paper, instead of simply measuring contact forces, we take positive actions by giving perturbation to the end effector and observing the reaction forces to the perturbation in order to obtain much richer and more reliable information. By taking the correlation between the input perturbation and the resultant reaction forces, we can determine the gradient of the force profile and guide the part correctly. This algorithm is applied to a pipe insertion task, and connector assembly task. Based on the process model and stability analysis using the Popov stability criterion, conditions for stable, successful insertion despite nonlinearities and uncertainties in the environment are obtained. The theoretical results are verified using the experimental data.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133302700","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1997-09-07DOI: 10.1109/IROS.1997.656583
I. Murata, T. Chikura, S. Kunimitsu, Atsuya Yoshida, Tsunehiro Akabane
In this paper, the semiautomatic construction manipulators system for steel towers for the transmission of electricity is proposed. The piling up/expansion and contraction method is selected as the best construction method out of ten methods considered for the semiautomatic system. The first necessary function for construction manipulators is addressed and the suitable mechanism for it is considered as semiautomatic system. The remote operation method is used for operating a climbing crane and manipulators. This system has five monitors which display scenes sent from cameras on the crane and the manipulators and animation displays which are useful for operators to monitor working conditions from any direction. The climbing crane controls and construction manipulators require many kinds of functions. Anti sway control is necessary and very important for crane controls. Force control and tightening control are important for manipulators control. In addition, cooperative control is very important for crane and manipulators.
{"title":"Construction manipulators of steel towers for the transmission of electricity","authors":"I. Murata, T. Chikura, S. Kunimitsu, Atsuya Yoshida, Tsunehiro Akabane","doi":"10.1109/IROS.1997.656583","DOIUrl":"https://doi.org/10.1109/IROS.1997.656583","url":null,"abstract":"In this paper, the semiautomatic construction manipulators system for steel towers for the transmission of electricity is proposed. The piling up/expansion and contraction method is selected as the best construction method out of ten methods considered for the semiautomatic system. The first necessary function for construction manipulators is addressed and the suitable mechanism for it is considered as semiautomatic system. The remote operation method is used for operating a climbing crane and manipulators. This system has five monitors which display scenes sent from cameras on the crane and the manipulators and animation displays which are useful for operators to monitor working conditions from any direction. The climbing crane controls and construction manipulators require many kinds of functions. Anti sway control is necessary and very important for crane controls. Force control and tightening control are important for manipulators control. In addition, cooperative control is very important for crane and manipulators.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"96 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133395818","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1997-09-07DOI: 10.1109/IROS.1997.649103
Y. Tsumaki, H. Naruse, D. Nenchev, M. Uchiyama
We analyze some aspects of human physical skill and propose a model thereof, with a view to implementing such skills in robots. We implement our model in a control scheme which makes use of impedance control in combination with low-gain force control and feedforward control. The summation results show that the model is able to achieve the reference force, and at the same time, the manipulator shows impedance-type behavior. Furthermore, with this scheme it is possible to track the reference force quickly, when the disturbance is known apriori. The experiments show that the performance of our control scheme is very close to that of the human operator.
{"title":"On force control in human physical skill","authors":"Y. Tsumaki, H. Naruse, D. Nenchev, M. Uchiyama","doi":"10.1109/IROS.1997.649103","DOIUrl":"https://doi.org/10.1109/IROS.1997.649103","url":null,"abstract":"We analyze some aspects of human physical skill and propose a model thereof, with a view to implementing such skills in robots. We implement our model in a control scheme which makes use of impedance control in combination with low-gain force control and feedforward control. The summation results show that the model is able to achieve the reference force, and at the same time, the manipulator shows impedance-type behavior. Furthermore, with this scheme it is possible to track the reference force quickly, when the disturbance is known apriori. The experiments show that the performance of our control scheme is very close to that of the human operator.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132788910","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1997-09-07DOI: 10.1109/IROS.1997.656443
S. D'Attanasio, R. Lazzarini, C. Stefanini, M. Carrozza, P. Dario
This paper describes a teleoperated mobile microrobot incorporating a novel type of electromagnetic micromotor. The overall dimensions of the microrobot are 10 mm/spl times/10 mm/spl times/10 mm. Two micromotors are used to actuate the two wheels of the microrobot. The micromotor is based on variable reluctance working principle and moves step by step. The micromotor is driven by a sequence of current pulses and performs about 200 steps per revolution. The micromotor generates a torque of 350.10/sup -6/ Nm at each step and a maximum speed of about 180 rpm. The heart of the control circuitry is the PIC16C73 microcontroller, that implements the control algorithm which allows the microrobot to move forward, backward and turn left or right. The operator controls the microrobot by a remote joystick and flexible ultraminiature wires. The microrobot has a maximum speed of 10 cm/s and can climb a slope of 15 degrees. The paper describes the design, fabrication and performance of the microrobot and of its components.
{"title":"A one cubic centimeter mobile microrobot with a steering control","authors":"S. D'Attanasio, R. Lazzarini, C. Stefanini, M. Carrozza, P. Dario","doi":"10.1109/IROS.1997.656443","DOIUrl":"https://doi.org/10.1109/IROS.1997.656443","url":null,"abstract":"This paper describes a teleoperated mobile microrobot incorporating a novel type of electromagnetic micromotor. The overall dimensions of the microrobot are 10 mm/spl times/10 mm/spl times/10 mm. Two micromotors are used to actuate the two wheels of the microrobot. The micromotor is based on variable reluctance working principle and moves step by step. The micromotor is driven by a sequence of current pulses and performs about 200 steps per revolution. The micromotor generates a torque of 350.10/sup -6/ Nm at each step and a maximum speed of about 180 rpm. The heart of the control circuitry is the PIC16C73 microcontroller, that implements the control algorithm which allows the microrobot to move forward, backward and turn left or right. The operator controls the microrobot by a remote joystick and flexible ultraminiature wires. The microrobot has a maximum speed of 10 cm/s and can climb a slope of 15 degrees. The paper describes the design, fabrication and performance of the microrobot and of its components.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122758192","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1997-09-07DOI: 10.1109/IROS.1997.655137
K. Roh, Wang-Heon Lee, In-So Kweon
In this paper, we propose two new vision-based methods for indoor mobile robot navigation. One is a self-localization algorithm using projective invariant and the other is a method for obstacle detection by simple image difference and relative positioning. For a geometric model of corridor environment, we use natural features formed by floor, walls, and door frames. Using the cross-ratios of the features can be effective and robust in building and updating model-base, and image matching. We predefine a risk zone without obstacles for a robot, and store the image of the risk zone, which will be used to detect obstacles inside the zone by comparing the stored image with the current image of a new risk zone. The position of the robot and obstacles are determined by relative positioning. The robustness and feasibility of our algorithms have been demonstrated through experiments in corridor environments using the KASIRI-II indoor mobile robot.
{"title":"Obstacle detection and self-localization without camera calibration using projective invariants","authors":"K. Roh, Wang-Heon Lee, In-So Kweon","doi":"10.1109/IROS.1997.655137","DOIUrl":"https://doi.org/10.1109/IROS.1997.655137","url":null,"abstract":"In this paper, we propose two new vision-based methods for indoor mobile robot navigation. One is a self-localization algorithm using projective invariant and the other is a method for obstacle detection by simple image difference and relative positioning. For a geometric model of corridor environment, we use natural features formed by floor, walls, and door frames. Using the cross-ratios of the features can be effective and robust in building and updating model-base, and image matching. We predefine a risk zone without obstacles for a robot, and store the image of the risk zone, which will be used to detect obstacles inside the zone by comparing the stored image with the current image of a new risk zone. The position of the robot and obstacles are determined by relative positioning. The robustness and feasibility of our algorithms have been demonstrated through experiments in corridor environments using the KASIRI-II indoor mobile robot.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114571663","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1997-09-07DOI: 10.1109/IROS.1997.656543
B. Ghosh, D. Xiao, N. Xi, T. Tarn
The main problem that we address in this paper is how a robot manipulator is able to track and grasp a part placed arbitrarily on a moving disc conveyor aided by a single CCD camera and fusing information from encoders placed on the conveyor and also from encoders on the robot manipulator. The important assumption that distinguishes our work from what has been previously reported in the literature is that the position and orientation of the camera and the base frame of the robot is a priori assumed to be unknown and is 'visually calibrated' during the operation of the manipulator. Moreover the part placed on the conveyor is assumed to be nonplanar, i.e. the feature points observed on the part is assumed to be located arbitrarily in R/sup 3/. The novelties of the proposed approach in this paper includes a (i) multisensor fusion scheme based on complementary data for the purpose of part localization, and (ii) self-calibration between the turntable and the robot manipulator using visual data and feature points on the end-effector. The principle advantages of the proposed scheme are the following. (i) It renders possible to reconfigure a manufacturing workcell without recalibrating the relation between the turntable and the robot. This significantly shortens the setup time of the workcell. (ii) It greatly weakens the requirement on the image processing speed.
{"title":"Sensor-guided manipulation in a manufacturing workcell","authors":"B. Ghosh, D. Xiao, N. Xi, T. Tarn","doi":"10.1109/IROS.1997.656543","DOIUrl":"https://doi.org/10.1109/IROS.1997.656543","url":null,"abstract":"The main problem that we address in this paper is how a robot manipulator is able to track and grasp a part placed arbitrarily on a moving disc conveyor aided by a single CCD camera and fusing information from encoders placed on the conveyor and also from encoders on the robot manipulator. The important assumption that distinguishes our work from what has been previously reported in the literature is that the position and orientation of the camera and the base frame of the robot is a priori assumed to be unknown and is 'visually calibrated' during the operation of the manipulator. Moreover the part placed on the conveyor is assumed to be nonplanar, i.e. the feature points observed on the part is assumed to be located arbitrarily in R/sup 3/. The novelties of the proposed approach in this paper includes a (i) multisensor fusion scheme based on complementary data for the purpose of part localization, and (ii) self-calibration between the turntable and the robot manipulator using visual data and feature points on the end-effector. The principle advantages of the proposed scheme are the following. (i) It renders possible to reconfigure a manufacturing workcell without recalibrating the relation between the turntable and the robot. This significantly shortens the setup time of the workcell. (ii) It greatly weakens the requirement on the image processing speed.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121039911","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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