Robotic Motion Planning and Manipulation in an Uncalibrated Environment

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

Research output: Contribution to journalArticlepeer-review

2 Scopus citations


The authors analyze planning and control problems in "Robotic Manipulation" in an uncalibrated environment consisting of a PUMA 560 robotic manipulator, a rotating turntable equipped with an encoder and a CCD camera based vision sensor fixed permanently on the ceiling. It is assumed that a part with a known shape but unknown orientation is placed on the turntable which is rotating with an unknown motion dynamics. Furthermore, the calibration parameters are a priori assumed to be unknown. The objective is to track the rotating part with an a priori specified relative orientation. The task considered is of importance in various problems concerning industrial automation, such as part-feeding and tool-changing.

Original languageEnglish
Pages (from-to)50-56
Number of pages7
JournalIEEE Robotics and Automation Magazine
Issue number4
StatePublished - Dec 1998


  • Event base
  • Multisensor fusion
  • Parallel guidance
  • Virtual rotation


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