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...

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Published in:Robotica 2004-05, Vol.22 (3), p.301-307
Main Authors: Kucuk, Haluk, Parker, Gordon, Baumgartner, Eric T
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creator Kucuk, Haluk
Parker, Gordon
Baumgartner, Eric T
description 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.
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title Robot positioning of flexible-link manipulator using vision
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