Title | ||
---|---|---|
Error Analysis of a Sub-millimeter Real-Time Target Recognition System with a Moving Camera |
Abstract | ||
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This paper discloses a method for simple and efficient optical coupling of a robotic arm with a tool with unknown location
without exerting forces to the tool. Current solutions involve moving the robot in force-control mode and coupling by means
of a manual gripper. This poses the problem with the transfer of unwanted forces to the tool while attempting to secure the
design. With the intrinsic solution presented here, the camera is placed on the coupling axis and thence measures the distance
and orientation to the target, the user will have the ability to safely guide the robotic arm towards the tool and smoothly
couple the tool with the robot’s end effector. The mechanical prototype is not here described; this paper emphasizes the image
processing, consequent data interpretation and general approach. After the explanation of the technique, its theoretical performance
limit was examined and confirmed against the practically achieved performance.
|
Year | DOI | Venue |
---|---|---|
2008 | 10.1007/978-3-642-03040-6_70 | Advances in Neuro-Information Processing |
Keywords | Field | DocType |
data interpretation,image processing,real time,robot arm | Computer vision,Robotic arm,Coupling,Recognition system,Simulation,Computer science,Millimeter,Image processing,Robot end effector,Artificial intelligence,Robot,Pinhole camera model | Conference |
Volume | ISSN | Citations |
5507 | 0302-9743 | 0 |
PageRank | References | Authors |
0.34 | 4 | 5 |
Name | Order | Citations | PageRank |
---|---|---|---|
V. M. M. Vieira | 1 | 0 | 0.34 |
Gavin J. Kane | 2 | 5 | 1.85 |
R. Marmulla | 3 | 3 | 1.90 |
Jörg Raczkowsky | 4 | 49 | 24.57 |
Georg Eggers | 5 | 0 | 0.34 |