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Proceedings Paper

Fault detection and recovery in a mobile robot vision system
Author(s): Stefan Blessing
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Paper Abstract

Mobile systems in the area of modern manufacturing become more and more important. In order to handle an object with a manipulator mounted on an autonomous mobile system (AMS), the object's position has to be determined with sufficient accuracy. Especially within a flexible environment its exact 3D pose relative to the manipulator often is not known a priori. The object recognition unit of the presented system robustly accomplishes this 3D pose estimation using a single CCD camera mounted in the gripper exchange system of the mobile robot. The reliability of the results is checked by an independent fault-detection module. A recovery unit handles most of the possible problems autonomously, thus increasing the system's availability.

Paper Details

Date Published: 26 August 1996
PDF: 10 pages
Proc. SPIE 2787, Rapid Prototyping, (26 August 1996); doi: 10.1117/12.248587
Show Author Affiliations
Stefan Blessing, Technische Univ. Muenchen (Germany)

Published in SPIE Proceedings Vol. 2787:
Rapid Prototyping
Rolf-Juergen Ahlers; Gunther Reinhart, Editor(s)

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