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Proceedings Paper

Camera space control system for a mobile robot forklift
Author(s): Richard K. Miller; D. G. Stewart; W. H. Brockman; Steven B. Skaar
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Paper Abstract

In this paper we present the method of camera space manipulation for control of a mobile cart with an on-board robot. The objective is to do three dimensional object placement. The robot- cart system is operated as a forklift. The cart has a rear wheel for steering and driving, two front wheels, and a tether allowing control from a remote computer. Two remotely placed CCTV cameras provide images for use by the control system. The method is illustrated experimentally by a box stacking task. None of the components-cameras, robot-cart, or target box are prepositioned. 'Ring cues' are placed on both boxes in order to simplify the image processing. A sequential estimation scheme solves the placement problem. This scheme produces the control necessary to place the image of the grasped box at the relevant target image position in each of the two dimensional camera planes. This results in a precise and robust manipulation strategy.

Paper Details

Date Published: 4 May 1993
PDF: 11 pages
Proc. SPIE 1831, Mobile Robots VII, (4 May 1993); doi: 10.1117/12.143808
Show Author Affiliations
Richard K. Miller, Iowa State Univ. (United States)
D. G. Stewart, Iowa State Univ. (United States)
W. H. Brockman, Iowa State Univ. (United States)
Steven B. Skaar, Univ. of Notre Dame (United States)

Published in SPIE Proceedings Vol. 1831:
Mobile Robots VII
William J. Wolfe; Wendell H. Chun, Editor(s)

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