Calibration free visually controlled manipulation of parts in a robotic manufacturing workcell

Bijoy K. Ghosh, Tzyh Jong Tarn, Ning Xi, Zhenyu Yu, Di Xiao

Research output: Contribution to journalConference articlepeer-review

1 Scopus citations

Abstract

In this paper we introduce a new approach to visually manipulate, with the aid of a robot manipulator, a part placed randomly on a rotating turntable. The highlight of our approach is that the camera and the robot end effector are both assumed to be uncalibrated. We only assume that the height of the robot end effector is known. Our approach utilizes virtual rotation of the camera via image processing not previously introduced in the literature. Finally the tracking scheme is implemented by planning the error and gradually forcing it to zero while maintaining the torque controls within acceptable limits. This way we demonstrate a new visually guided analytical tracking scheme.

Original languageEnglish
Pages (from-to)3197-3202
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume4
StatePublished - 1996
EventProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
Duration: Apr 22 1996Apr 28 1996

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