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Proceedings Paper

Acquisition of randomly moving objects by visual guidance
Author(s): Antonius J. Hendriks
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Paper Abstract

This paper describes an integral approach to the acquisition of randomly moving objects with a robot. The acquisition problem is phrased as a feedback control problem that explicitly models the target dynamics but justifiably excludes the robot dynamics. The target's position deviation with respect to the robot is sensed by a camera mounted within the end-effector and used to servo the robot governed by controller-observer pairs. Acquisition takes place once the system is sufficiently certain about the target's motion pattern. A good balance is found for the trade- off in this phase between a decreasing field of view for the camera and the need to get close for acquisition. The approach was tested on a PUMA-560 robot with a gripper mounted camera. The experimental system can acquire objects that are moving randomly on a table; an early version was integrated in a kitting robot cell.

Paper Details

Date Published: 6 August 1993
PDF: 11 pages
Proc. SPIE 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods, (6 August 1993); doi: 10.1117/12.150205
Show Author Affiliations
Antonius J. Hendriks, Philips Electronics North America Corp. (United States)


Published in SPIE Proceedings Vol. 2056:
Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods
David P. Casasent, Editor(s)

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