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Proceedings Paper

Estimation of robot parameters using optical sensors
Author(s): Alexander Korzun; Evgeni Kukareko; Anatoly Pashkevich
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Paper Abstract

The paper is devoted to robot accuracy improvement via calibration and contains correspondent algorithms, hard- and software description. The experimental part of this work has been performed with PUMA robots. The hardware includes a sensor unit mounted on the robot arm consisting of a CCD camera and four optical proximity sensors. The proposed algorithm is based on an integral estimate of straight path distortions and minimization of them by altering the parameters of the robot model.

Paper Details

Date Published: 6 August 1993
PDF: 8 pages
Proc. SPIE 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods, (6 August 1993); doi: 10.1117/12.150211
Show Author Affiliations
Alexander Korzun, Minsk Radioengineering Institute (Belarus)
Evgeni Kukareko, Minsk Radioengineering Institute (Belarus)
Anatoly Pashkevich, Minsk Radioengineering Institute (Belarus)


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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