Single camera, calibration free estimation and tracking scheme with multi-sensor fusion in a manufacturing workcell

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

Research output: Contribution to conferencePaperpeer-review

Abstract

In this paper, the problem of tracking and grasping a moving part on a rotating turntable with the aid of a robotic manipulator is considered. The position and orientation of the part with respect to the turntable is assumed to be apriori unknown. Likewise the position and orientation of the robot with respect to the turntable is also assumed to be apriori unknown. In the algorithm described in this paper, the position and orientation information are estimated visually and recursively updated. The procedure involves `sensor fusion' with encoders placed on the turntable and encoders on the robot. Having obtained a good estimate of the position and orientation of the part with respect to the base frame of the robot, the manipulator is controlled to track and grasp the moving part. The operation of grasping has been demonstrated experimentally. The paper emphasizes various cases of the estimation scheme as a result of choosing various geometric cues on the end effector.

Original languageEnglish
Pages679-686
Number of pages8
StatePublished - 1996
EventProceedings of the 1996 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems - Washington, DC, USA
Duration: Dec 8 1996Dec 11 1996

Conference

ConferenceProceedings of the 1996 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems
CityWashington, DC, USA
Period12/8/9612/11/96

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