This paper describes a computationally efficient algorithm that provides the ability to accurately place an arm end-effector on a target designated in an image using low speed feedback from a fixed stereo camera. The algorithm is robust to visual occlusion of the end-effector and does not require high fidelity calibration of either the arm or stereo camera. The algorithm works by maintaining an error vector between the locations of a fiducial on the arm's end-effector as predicted by a kinematic model of the arm and detected and triangulated by a stereo camera pair. It then uses this error vector to compensate for errors in the kinematic model and servo to the target designated in the stereo camera pair.


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    Titel :

    Vision-based end-effector position error compensation


    Beteiligte:
    Bajracharya, M. (Autor:in) / DiCicco, M. (Autor:in) / Backes, P. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2006-01-01


    Format / Umfang :

    512152 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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