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Proceedings Paper

Controlling a robot task using external redundant sensors
Author(s): A. Poyet; Jocelyne Troccaz; Philippe Cinquin
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Paper Abstract

Industry may potentially benefit a lot from the use of robots since they permit us to perform tasks that humans can not possibly do (in hostile environment, heavy devices to move...) with a better accuracy and an increased productivity. It is the same for surgical applications where robots are used as physical interfaces between computerized data and the real world for the execution of complex and/or accurate interventions. In this paper, we present a low-cost system whose purpose is to improve the safety by a redundant control when using robots. This system is based on a continuous monitoring of the position of a collection of passive markers by a set of standard video cameras. Since the task has been planned, the position of visible markers in the images can be predicted and can be verified with a limited image processing. Any significant discrepancy between the predicted position of a marker and the real one results in an emergency stop of the robot. The calibration procedures are presented and experimental results are described.

Paper Details

Date Published: 9 November 1994
PDF: 9 pages
Proc. SPIE 2247, Sensors and Control for Automation, (9 November 1994); doi: 10.1117/12.193936
Show Author Affiliations
A. Poyet, Faculte de Medicine de Grenoble (France)
Jocelyne Troccaz, Faculte de Medicine de Grenoble (France)
Philippe Cinquin, Faculte de Medicine de Grenoble (France)


Published in SPIE Proceedings Vol. 2247:
Sensors and Control for Automation
Markus Becker; R. W. Daniel; Otmar Loffeld, Editor(s)

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