A multi-sensor based planning and control scheme for robotic manufacturing is presented in this paper. The proposed approach fuses sensory information from various sensors at different temporal and spatial scales in an event-based planning and control scheme. By combining the measurement of an encoder sensor, relative spatial information obtained from processing of visual measurement is mapped to absolute task-space of robot, delayed data obtained from displacement based vision algorithm that represent absolute part position measurement is brought to current. A four-step approach to planning and control of robotic manipulator is discussed. An event-driven tracking and control scheme that is based on multi-sensor information is given. The approach is illustrated by considering a manufacturing workcell where the manipulator is commanded to pick up a part on a disc conveyor under the guidance of computer vision.
|Number of pages||6|
|State||Published - 1995|
|Event||Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Pittsburgh, PA, USA|
Duration: Aug 5 1995 → Aug 9 1995
|Conference||Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3)|
|City||Pittsburgh, PA, USA|
|Period||08/5/95 → 08/9/95|