Experiments to achieve accurate vision guided robot movements
Highly accurate sensor based robot movements are demanded in many light assembly applications. In our study the goal is to implement a vision sensor in the gripper frame of a robotic manipulator to investigate how to achieve high accurate but at the same time flexible movements. Our sensor comprises...
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| creator | Pikkarainen, H. Heimonen, T. Juvalainen, H. Manninen, M. |
| description | Highly accurate sensor based robot movements are demanded in many light assembly applications. In our study the goal is to implement a vision sensor in the gripper frame of a robotic manipulator to investigate how to achieve high accurate but at the same time flexible movements. Our sensor comprises two cameras and a suitable lighting. The 3D coordinates of the objects close to the grasping point are extracted based on the normal stereo disparity calculations. The recent results of our experiments shows that we are able to achieve the accuracy of about 20 micrometers in the area of 90/spl times/70 mm/sup 2/ and that our control method is capable of driving the robotic manipulator according to this accuracy. In this paper we describe our control method and the performance of the sensor as well as the preliminary results of our studies. |
| doi_str_mv | 10.1109/ISATP.2001.929050 |
| format | Conference Proceeding |
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In our study the goal is to implement a vision sensor in the gripper frame of a robotic manipulator to investigate how to achieve high accurate but at the same time flexible movements. Our sensor comprises two cameras and a suitable lighting. The 3D coordinates of the objects close to the grasping point are extracted based on the normal stereo disparity calculations. The recent results of our experiments shows that we are able to achieve the accuracy of about 20 micrometers in the area of 90/spl times/70 mm/sup 2/ and that our control method is capable of driving the robotic manipulator according to this accuracy. 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In this paper we describe our control method and the performance of the sensor as well as the preliminary results of our studies.</description><subject>Cameras</subject><subject>Fingers</subject><subject>Grippers</subject><subject>Manipulators</subject><subject>Open loop systems</subject><subject>Robot kinematics</subject><subject>Robot sensing systems</subject><subject>Robot vision systems</subject><subject>Robotic assembly</subject><subject>Robotics and automation</subject><isbn>9780780370043</isbn><isbn>078037004X</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2001</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpjYJA0NNAzNDSw1PcMdgwJ0DMyMDDUszSyNDA1YGbgtTS3MAAiY3MDAxNjDgbe4uIsAyAwtjQ2tzTkZLB1rShILcrMTc0rKVYoyVdITM7ITC1LBdLJpUWJJakKZZnFmfl5CumlmSmpKQpF-Un5JQq5-WWpYB08DKxpiTnFqbxQmptBys01xNlDNzM1NTW-AGhuYlFlPMQtxnglAVeKOJ4</recordid><startdate>2001</startdate><enddate>2001</enddate><creator>Pikkarainen, H.</creator><creator>Heimonen, T.</creator><creator>Juvalainen, H.</creator><creator>Manninen, M.</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>2001</creationdate><title>Experiments to achieve accurate vision guided robot movements</title><author>Pikkarainen, H. ; Heimonen, T. ; Juvalainen, H. ; Manninen, M.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-ieee_primary_9290503</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2001</creationdate><topic>Cameras</topic><topic>Fingers</topic><topic>Grippers</topic><topic>Manipulators</topic><topic>Open loop systems</topic><topic>Robot kinematics</topic><topic>Robot sensing systems</topic><topic>Robot vision systems</topic><topic>Robotic assembly</topic><topic>Robotics and automation</topic><toplevel>online_resources</toplevel><creatorcontrib>Pikkarainen, H.</creatorcontrib><creatorcontrib>Heimonen, T.</creatorcontrib><creatorcontrib>Juvalainen, H.</creatorcontrib><creatorcontrib>Manninen, M.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Pikkarainen, H.</au><au>Heimonen, T.</au><au>Juvalainen, H.</au><au>Manninen, M.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Experiments to achieve accurate vision guided robot movements</atitle><btitle>Proceedings of the 2001 IEEE International Symposium on Assembly and Task Planning (ISATP2001). Assembly and Disassembly in the Twenty-first Century. (Cat. No.01TH8560)</btitle><stitle>ISATP</stitle><date>2001</date><risdate>2001</risdate><spage>351</spage><epage>355</epage><pages>351-355</pages><isbn>9780780370043</isbn><isbn>078037004X</isbn><abstract>Highly accurate sensor based robot movements are demanded in many light assembly applications. In our study the goal is to implement a vision sensor in the gripper frame of a robotic manipulator to investigate how to achieve high accurate but at the same time flexible movements. Our sensor comprises two cameras and a suitable lighting. The 3D coordinates of the objects close to the grasping point are extracted based on the normal stereo disparity calculations. The recent results of our experiments shows that we are able to achieve the accuracy of about 20 micrometers in the area of 90/spl times/70 mm/sup 2/ and that our control method is capable of driving the robotic manipulator according to this accuracy. In this paper we describe our control method and the performance of the sensor as well as the preliminary results of our studies.</abstract><pub>IEEE</pub><doi>10.1109/ISATP.2001.929050</doi></addata></record> |
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| ispartof | Proceedings of the 2001 IEEE International Symposium on Assembly and Task Planning (ISATP2001). Assembly and Disassembly in the Twenty-first Century. (Cat. No.01TH8560), 2001, p.351-355 |
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| language | eng |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Cameras Fingers Grippers Manipulators Open loop systems Robot kinematics Robot sensing systems Robot vision systems Robotic assembly Robotics and automation |
| title | Experiments to achieve accurate vision guided robot movements |
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