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Proceedings Paper

Pose Determination Of A Satellite Grapple Fixture Using A Wrist-Mounted Laser Range Finder
Author(s): C. Merritt; C. Archibald; T. Ng
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Paper Abstract

A laser range finder mounted on a robot wrist has been used to determine the position and orientation (pose) of a standard satellite grapple fixture. This sensor provides single profiles of range data. Non-adjacent parallel scanlines are acquired from a selected viewpoint, giving data which is sparse along the y-axis of the scanner, while being dense along the x-axis. An application-dependent algorithm for recognition of the grapple fixture components and its pose determination has been implemented. The method takes advantage of the sparse nature of the data, thereby requiring a minimal amount of processing.

Paper Details

Date Published: 27 March 1989
PDF: 8 pages
Proc. SPIE 1002, Intelligent Robots and Computer Vision VII, (27 March 1989); doi: 10.1117/12.960319
Show Author Affiliations
C. Merritt, National Research Council of Canada (Canada)
C. Archibald, National Research Council of Canada (Canada)
T. Ng, SPAR Aerospace Ltd. (Canada)


Published in SPIE Proceedings Vol. 1002:
Intelligent Robots and Computer Vision VII
David P. Casasent, Editor(s)

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