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Proceedings Paper

Sensitivity analysis for a remote vision-guided robot arm under imprecise supervisory control
Author(s): Eric T. Baumgartner; Nicholas Klymyshyn
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Paper Abstract

This paper presents a study regarding the sensitivity of a vision-based control method known as camera-space manipulation to inaccuracies in the specified target objectives. For the application considered, the target objectives represent the image-plane appearance of a common 3D physical space point in the cameras that participate in the task. Inaccurate or incompatible target objectives are present because of the nature in which this information is relayed to the robot system from a remote operator. Therefore, a simulation-based sensitivity analysis is presented and discussed with respect to the level of terminal positioning precision that can be achieved in light of the incompatible target objectives.

Paper Details

Date Published: 30 October 1996
PDF: 9 pages
Proc. SPIE 2905, Sensor Fusion and Distributed Robotic Agents, (30 October 1996); doi: 10.1117/12.256332
Show Author Affiliations
Eric T. Baumgartner, Jet Propulsion Lab. (United States)
Nicholas Klymyshyn, Michigan Technological Univ. (United States)


Published in SPIE Proceedings Vol. 2905:
Sensor Fusion and Distributed Robotic Agents
Paul S. Schenker; Gerard T. McKee, Editor(s)

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