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Proceedings Paper

Three-dimensional object model correction for intelligent robotics
Author(s): Anatoly Pashkevich; Juha Roening; Andrew V. Sidorov
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Paper Abstract

The paper deals with geometrical model correction of 3D rigid objects situated in the robotic environment. This problem is extremely important both for intelligent robots and for industrial robotic workcells. The proposed approach is based on computing homogeneous transformation matrix that describes the relation between locations in real robot environment and their images in a world model maintained by a robot control system. Detail error analysis and computational experiments were carried out to investigate proposed algorithm robustness and reliability. Experimental verification of the algorithm is presented. The workcell calibration method was integrated into a robot off-line programming system for PUMA and KUKA robots.

Paper Details

Date Published: 6 August 1993
PDF: 12 pages
Proc. SPIE 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods, (6 August 1993); doi: 10.1117/12.150198
Show Author Affiliations
Anatoly Pashkevich, Minsk Radioengineering Institute (Belarus)
Juha Roening, Univ. of Oulu (Finland)
Andrew V. Sidorov, Minsk Radioengineering Institute (Belarus)

Published in SPIE Proceedings Vol. 2056:
Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods
David P. Casasent, Editor(s)

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