On sensor feedback for gripping an object within prescribed posture tolerances

Author

Wernersson ; Boberg ; Nilsson ; Nygårds ; Rydberg

Author_Institution

Linkoping Univ., Sweden

fYear

1992

fDate

12-14 May 1992

Firstpage

1654

Abstract

The problem addressed is sensor feedback for guiding a robot to the correct gripping point and to arrive within the prescribed tolerances. The solution is divided into three parts, the extraction of posture parameters from a range camera dynamic filtering to reduce spurious responses and a linear quadratic Gaussian designed feedback law to guide the robot to the correct gripping point. The prescribed tolerances were reached within a reasonable time. For transparent results a mobile was considered with three state variables. This is a first simple case toward a unified theory of tolerance controlled gripping

Keywords

computer vision; control system synthesis; feature extraction; feedback; manipulators; optimal control; position control; gripping; linear quadratic Gaussian; manipulators; position control; posture parameter extraction; range camera dynamic filtering; range measurement; robot; sensor feedback; unified theory; Cameras; Dynamic range; Feedback; Grippers; Mechanical sensors; Mechanical systems; Robot kinematics; Robot sensing systems; Robot vision systems; Stochastic processes;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Conference_Location

Nice

Print_ISBN

0-8186-2720-4

Type

conf

DOI

10.1109/ROBOT.1992.220140

Filename

220140