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Proceedings Paper

Three-dimensional vision for robot manipulator control
Author(s): Peter J. Shuttleworth; Max Robinson
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Paper Abstract

For a number of years Nottingham Polytechnic has been investigating the use of stereoscopic vision in robotic applications. The aim of the current project is to produce a robotic system which can locate an object in three dimensional space, move the arm to the correct position and then pick up the object without human intervention. The technique uses a pair of television cameras configured to give a stereoscopic view of the working envelope of the robot manipulator. A prototype vision guided robot manipulator control system has been produced. The system uses photogrammetric calibration procedures which can account for unknown camera position and/or orientation as well as the major components of lens distortion. The calibration mechanism also performs the eye- hand-coordination function. This prototype uses a stereoscopic camera arrangement to provide three dimensional position information. The stereo-correspondence problem is solved using a combination of structured light and dedicated electronic hardware. The result of the work is a prototype manipulator control system which uses vision to close the control loop. The overall effect is a robot arm which moves towards an object, correcting its position as it moves. This is similar in concept to the way human beings approach the problem of grasping an object.

Paper Details

Date Published: 1 January 1990
PDF: 10 pages
Proc. SPIE 1293, Applications of Artificial Intelligence VIII, (1 January 1990); doi: 10.1117/12.21082
Show Author Affiliations
Peter J. Shuttleworth, Nottingham Polytechnic (United Kingdom)
Max Robinson, Nottingham Polytechnic (United Kingdom)

Published in SPIE Proceedings Vol. 1293:
Applications of Artificial Intelligence VIII
Mohan M. Trivedi, Editor(s)

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