Robot positioning of flexible-link manipulator using vision

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...

Full description

Saved in:
Bibliographic Details
Published in:Robotica 2004-05, Vol.22 (3), p.301-307
Main Authors: Kucuk, Haluk, Parker, Gordon, Baumgartner, Eric T
Format: Article
Language:English
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary: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 endeffector at the target.
ISSN:0263-5747
DOI:10.1017/S0263574703005629-