Share Email Print

Proceedings Paper

Path Planner With Vision Capability
Author(s): A. Distante; G. Attolico; M. G. Radicci; E. Stella
Format Member Price Non-Member Price
PDF $14.40 $18.00
cover GOOD NEWS! Your organization subscribes to the SPIE Digital Library. You may be able to download this paper for free. Check Access

Paper Abstract

In this paper we are going to describe an ongoing research project intended to integrate a full vision system in a flexible robot programming environment. The use of the vision system sensors, allows the robot to derive a description of the work cell. This description is used for the collision avoidance problem of robot manipulators. The work cell in assembly context can include moving objects. Without any previous knowledge of the work space, the vision system thus immediately determines the work cell map in its entirely. Successively this map is used as input for the path planner process to find the collision-free path. During the assembly robot operation, the vision system is activated to reflect any changes in the robot environment. In this way the path planner works recursively, updating the collision free path until the goal is reached.

Paper Details

Date Published: 1 March 1990
PDF: 10 pages
Proc. SPIE 1193, Intelligent Robots and Computer Vision VIII: Systems and Applications, (1 March 1990); doi: 10.1117/12.969803
Show Author Affiliations
A. Distante, I.E.S.I. - C.N.R. (Italy)
G. Attolico, I.E.S.I. - C.N.R. (Italy)
M. G. Radicci, I.E.S.I. - C.N.R. (Italy)
E. Stella, Centro Geodesia Spaziale - C.N.R. (Italy)

Published in SPIE Proceedings Vol. 1193:
Intelligent Robots and Computer Vision VIII: Systems and Applications
Bruce G. Batchelor, Editor(s)

© SPIE. Terms of Use
Back to Top