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Conference Paper: Multisensor based intelligent planning and control for robotic manipulators on a mobile platform
| Title | Multisensor based intelligent planning and control for robotic manipulators on a mobile platform |
|---|---|
| Authors | |
| Issue Date | 1996 |
| Citation | Robot and Human Communication - Proceedings of the IEEE International Workshop, 1996, p. 164-169 How to Cite? |
| Abstract | This paper deals with the problem of tracking and grasping a moving part on a rotating turntable with the aid of a robotic manipulator is considered. The position and orientation of the part with respect to the turntable is assumed to be apriori unknown. Likewise the position and orientation of the robot with respect to the turntable is also assumed to be apriori unknown. The procedure of the algorithm described in this paper involves `sensor fusion' with encoders placed on the turntable and encoders on the robot. Having obtained a good estimate of the position and orientation of the part with respect to the base frame of the robot, the manipulator is controlled to track and grasp the moving part. The operation of grasping has been demonstrated experimentally. The paper emphasizes various cases of the estimation scheme as a result of choosing various geometric cues on the end effector. |
| Persistent Identifier | http://hdl.handle.net/10722/212675 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Ghosh, Bijoy K. | - |
| dc.contributor.author | Xiao, Di | - |
| dc.contributor.author | Xi, Ning | - |
| dc.contributor.author | Tarn, Tzyh Jong | - |
| dc.date.accessioned | 2015-07-28T04:04:39Z | - |
| dc.date.available | 2015-07-28T04:04:39Z | - |
| dc.date.issued | 1996 | - |
| dc.identifier.citation | Robot and Human Communication - Proceedings of the IEEE International Workshop, 1996, p. 164-169 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/212675 | - |
| dc.description.abstract | This paper deals with the problem of tracking and grasping a moving part on a rotating turntable with the aid of a robotic manipulator is considered. The position and orientation of the part with respect to the turntable is assumed to be apriori unknown. Likewise the position and orientation of the robot with respect to the turntable is also assumed to be apriori unknown. The procedure of the algorithm described in this paper involves `sensor fusion' with encoders placed on the turntable and encoders on the robot. Having obtained a good estimate of the position and orientation of the part with respect to the base frame of the robot, the manipulator is controlled to track and grasp the moving part. The operation of grasping has been demonstrated experimentally. The paper emphasizes various cases of the estimation scheme as a result of choosing various geometric cues on the end effector. | - |
| dc.language | eng | - |
| dc.relation.ispartof | Robot and Human Communication - Proceedings of the IEEE International Workshop | - |
| dc.title | Multisensor based intelligent planning and control for robotic manipulators on a mobile platform | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.scopus | eid_2-s2.0-0030382329 | - |
| dc.identifier.spage | 164 | - |
| dc.identifier.epage | 169 | - |