DocumentCode :
3414938
Title :
Iterative estimation of the relative spatial poses of a robot end effector and target object
Author :
Roach, Steve ; Magee, Michael
Author_Institution :
Dept. of Comput. Sci., Wyoming Univ., Laramie, WY, USA
fYear :
1996
fDate :
8-9 Apr 1996
Firstpage :
123
Lastpage :
128
Abstract :
A technique for finding the relative spatial pose between a robotic end effector and a target object to be gasped without a priori knowledge of the spatial relationship between the camera and the robot is presented. A previously developed technique is used to determine the pose of the end effector and a target object relative to the camera. The transformation between the camera´s and the robot´s coordinate frames is computed dynamically. The spatial transformation between the robot end effector and the target object is computed with respect to the robot´s coordinate system. The algorithm was demonstrated using a 5-degree of freedom robot and an RGB camera system. The camera can be dynamically positioned without concern for an assumed spatial relationship between the camera and robot allowing optimization of the view of the object and the end effector. Further, the iterative nature of the grasping algorithm reduces the effects of camera calibration errors
Keywords :
calibration; cameras; estimation theory; iterative methods; optimisation; robot vision; 5-degree of freedom robot; RGB camera system; camera calibration errors reduction; iterative estimation; iterative grasping algorithm; relative spatial poses; robot coordinate frames; robot coordinate system; robot end effector; spatial relationship; spatial transformation; target object; Calibration; Cameras; Computer science; End effectors; Equations; Iterative algorithms; Robot kinematics; Robot sensing systems; Robot vision systems; Transmission line matrix methods;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Image Analysis and Interpretation, 1996., Proceedings of the IEEE Southwest Symposium on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-3200-8
Type :
conf
DOI :
10.1109/IAI.1996.493739
Filename :
493739
Link To Document :
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