The paper presents the recent sensor and knowledge-based robotics research being carried out at the PAMI Lab. of University of Waterloo. The focus of the presentation is on the machine vision and knowledge based system which provides intelligence control of manipulators in both a workcell environment and the Space Station setting. Under development is an experimental system capable of: a) recognizing and locating 3-D objects and obstacles with a single or multiple camera system; b) automatic model synthesis of 3-D objects; c) vision directed optimal manipulator trajectory planning and execution with obstacle and singularity avoidance capability. The vision system developed, coupled with sonar sensing, has been used for intelligent control and navigation of an autonomous roving platform and an autonomous roving robot. The former, known as PAMI Roving Platform, is a battery powered vehicle which has on-line knowledge acquisition capability for mapping its simple world environment via a sonar sensing system. Using a machine vision system, it can locate its position in the laboratory, plan the trajectory, guide itself to dock at a workstation. The latter, known as PAMI-GM Autonomous Mobile Robot is an automated guided vehicle (AGV) with a PUMA 550 mounted on it. It functions as a fully autonomous robot whose operating range can further be extended with worktools attached to the end effector joint. Application of this technology to industrial and space station projects is included in the discussion.
Recent research on sensor and knowledge-based robotics
Neuere Untersuchungen über sensor- und wissensbasierte Roboter
1991
27 Seiten, 18 Bilder, 31 Quellen
Conference paper
English
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