Line-of-sight task-space sensing methodology for the localization of robotic end-effectors
In this paper, the implementation of a line-of-sight (LOS) task-space sensing methodology is presented for guidance-based microlocalization of robotic end-effectors. The novelty of the overall system is its applicability to cases that do not allow for the direct proximity measurement of the end-effe...
Gespeichert in:
| Veröffentlicht in: | IEEE/ASME transactions on mechatronics 2006-04, Vol.11 (2), p.225-232 |
|---|---|
| Hauptverfasser: | , |
| Format: | Artikel |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext bestellen |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | 232 |
|---|---|
| container_issue | 2 |
| container_start_page | 225 |
| container_title | IEEE/ASME transactions on mechatronics |
| container_volume | 11 |
| creator | Nejat, G. Benhabib, B. |
| description | In this paper, the implementation of a line-of-sight (LOS) task-space sensing methodology is presented for guidance-based microlocalization of robotic end-effectors. The novelty of the overall system is its applicability to cases that do not allow for the direct proximity measurement of the end-effector's pose (position and orientation). The mobility of the localization application dictates the minimum number and the type (planar or spatial) of the LOS that would be necessary to use and, consequently, the exact configuration of the sensing system. Although the main focus of the paper is the presentation of the proposed LOS sensing system, a brief discussion of a robot-guidance method, which relies on the use of this sensing system, is also included. Extensive experiments conducted for a high-precision 3-DOF (degrees of freedom) planar robotic platform utilizing the overall guidance system validated our research. |
| doi_str_mv | 10.1109/TMECH.2006.871101 |
| format | Article |
| fullrecord | <record><control><sourceid>proquest_RIE</sourceid><recordid>TN_cdi_proquest_miscellaneous_896193465</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>1618681</ieee_id><sourcerecordid>2342944771</sourcerecordid><originalsourceid>FETCH-LOGICAL-c307t-e5c2b7820048683d4a12d40fd44cbc9b121be1e2018de4810f4ae73effc941673</originalsourceid><addsrcrecordid>eNp9kUFPGzEQhVcIJCjwA1AvVg_l5HRm7ex6j1UUSqVUvYCEuFhe7zgx3axT2znAr8c0lSr1wGlGo-_NzNOrqiuEGSJ0X-5-LBe3sxqgmam2TPCoOsNOIgeUD8elByW4lGJ-Wn1I6QkAZIHOqseVn4gHx5NfbzLLJv3iaWcssURT8tOabSlvwhDGsH5mLkSWN8TGYM3oX0z2YWLBsRj6kL1lNA2cnCObQ0wX1YkzY6LLv_W8ur9Z3i1u-ernt--LrytuBbSZ09zWfavK61I1SgzSYD1IcIOUtrddjzX2hFQDqoGkQnDSUCvKGVv8Na04r64Pe3cx_N5Tynrrk6VxNBOFfdKqa7ATspkX8vO7ZK1AAHRYwE__gU9hH6fiQqtm3qJAIQqEB8jGkFIkp3fRb0181gj6LRT9JxT9Foo-hFI0Hw8aT0T_-AaLdRSvBsOIPQ</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>865713133</pqid></control><display><type>article</type><title>Line-of-sight task-space sensing methodology for the localization of robotic end-effectors</title><source>IEEE Electronic Library (IEL)</source><creator>Nejat, G. ; Benhabib, B.</creator><creatorcontrib>Nejat, G. ; Benhabib, B.</creatorcontrib><description>In this paper, the implementation of a line-of-sight (LOS) task-space sensing methodology is presented for guidance-based microlocalization of robotic end-effectors. The novelty of the overall system is its applicability to cases that do not allow for the direct proximity measurement of the end-effector's pose (position and orientation). The mobility of the localization application dictates the minimum number and the type (planar or spatial) of the LOS that would be necessary to use and, consequently, the exact configuration of the sensing system. Although the main focus of the paper is the presentation of the proposed LOS sensing system, a brief discussion of a robot-guidance method, which relies on the use of this sensing system, is also included. Extensive experiments conducted for a high-precision 3-DOF (degrees of freedom) planar robotic platform utilizing the overall guidance system validated our research.</description><identifier>ISSN: 1083-4435</identifier><identifier>EISSN: 1941-014X</identifier><identifier>DOI: 10.1109/TMECH.2006.871101</identifier><identifier>CODEN: IATEFW</identifier><language>eng</language><publisher>New York: IEEE</publisher><subject>Cameras ; Degrees of freedom ; Detection ; High-precision localization ; Iterative algorithms ; line-of-sight (LOS) guidance ; Localization ; Mathematical analysis ; Methodology ; Motion control ; Motion measurement ; Particle measurements ; Platforms ; Position (location) ; Position measurement ; Real time systems ; Robot motion ; Robot sensing systems ; Robotics ; Sensor systems ; task-space sensing</subject><ispartof>IEEE/ASME transactions on mechatronics, 2006-04, Vol.11 (2), p.225-232</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2006</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><cites>FETCH-LOGICAL-c307t-e5c2b7820048683d4a12d40fd44cbc9b121be1e2018de4810f4ae73effc941673</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/1618681$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>314,777,781,793,27905,27906,54739</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/1618681$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Nejat, G.</creatorcontrib><creatorcontrib>Benhabib, B.</creatorcontrib><title>Line-of-sight task-space sensing methodology for the localization of robotic end-effectors</title><title>IEEE/ASME transactions on mechatronics</title><addtitle>TMECH</addtitle><description>In this paper, the implementation of a line-of-sight (LOS) task-space sensing methodology is presented for guidance-based microlocalization of robotic end-effectors. The novelty of the overall system is its applicability to cases that do not allow for the direct proximity measurement of the end-effector's pose (position and orientation). The mobility of the localization application dictates the minimum number and the type (planar or spatial) of the LOS that would be necessary to use and, consequently, the exact configuration of the sensing system. Although the main focus of the paper is the presentation of the proposed LOS sensing system, a brief discussion of a robot-guidance method, which relies on the use of this sensing system, is also included. Extensive experiments conducted for a high-precision 3-DOF (degrees of freedom) planar robotic platform utilizing the overall guidance system validated our research.</description><subject>Cameras</subject><subject>Degrees of freedom</subject><subject>Detection</subject><subject>High-precision localization</subject><subject>Iterative algorithms</subject><subject>line-of-sight (LOS) guidance</subject><subject>Localization</subject><subject>Mathematical analysis</subject><subject>Methodology</subject><subject>Motion control</subject><subject>Motion measurement</subject><subject>Particle measurements</subject><subject>Platforms</subject><subject>Position (location)</subject><subject>Position measurement</subject><subject>Real time systems</subject><subject>Robot motion</subject><subject>Robot sensing systems</subject><subject>Robotics</subject><subject>Sensor systems</subject><subject>task-space sensing</subject><issn>1083-4435</issn><issn>1941-014X</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2006</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNp9kUFPGzEQhVcIJCjwA1AvVg_l5HRm7ex6j1UUSqVUvYCEuFhe7zgx3axT2znAr8c0lSr1wGlGo-_NzNOrqiuEGSJ0X-5-LBe3sxqgmam2TPCoOsNOIgeUD8elByW4lGJ-Wn1I6QkAZIHOqseVn4gHx5NfbzLLJv3iaWcssURT8tOabSlvwhDGsH5mLkSWN8TGYM3oX0z2YWLBsRj6kL1lNA2cnCObQ0wX1YkzY6LLv_W8ur9Z3i1u-ernt--LrytuBbSZ09zWfavK61I1SgzSYD1IcIOUtrddjzX2hFQDqoGkQnDSUCvKGVv8Na04r64Pe3cx_N5Tynrrk6VxNBOFfdKqa7ATspkX8vO7ZK1AAHRYwE__gU9hH6fiQqtm3qJAIQqEB8jGkFIkp3fRb0181gj6LRT9JxT9Foo-hFI0Hw8aT0T_-AaLdRSvBsOIPQ</recordid><startdate>20060401</startdate><enddate>20060401</enddate><creator>Nejat, G.</creator><creator>Benhabib, B.</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>7U5</scope><scope>F28</scope></search><sort><creationdate>20060401</creationdate><title>Line-of-sight task-space sensing methodology for the localization of robotic end-effectors</title><author>Nejat, G. ; Benhabib, B.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c307t-e5c2b7820048683d4a12d40fd44cbc9b121be1e2018de4810f4ae73effc941673</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2006</creationdate><topic>Cameras</topic><topic>Degrees of freedom</topic><topic>Detection</topic><topic>High-precision localization</topic><topic>Iterative algorithms</topic><topic>line-of-sight (LOS) guidance</topic><topic>Localization</topic><topic>Mathematical analysis</topic><topic>Methodology</topic><topic>Motion control</topic><topic>Motion measurement</topic><topic>Particle measurements</topic><topic>Platforms</topic><topic>Position (location)</topic><topic>Position measurement</topic><topic>Real time systems</topic><topic>Robot motion</topic><topic>Robot sensing systems</topic><topic>Robotics</topic><topic>Sensor systems</topic><topic>task-space sensing</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Nejat, G.</creatorcontrib><creatorcontrib>Benhabib, B.</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>Solid State and Superconductivity Abstracts</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><jtitle>IEEE/ASME transactions on mechatronics</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Nejat, G.</au><au>Benhabib, B.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Line-of-sight task-space sensing methodology for the localization of robotic end-effectors</atitle><jtitle>IEEE/ASME transactions on mechatronics</jtitle><stitle>TMECH</stitle><date>2006-04-01</date><risdate>2006</risdate><volume>11</volume><issue>2</issue><spage>225</spage><epage>232</epage><pages>225-232</pages><issn>1083-4435</issn><eissn>1941-014X</eissn><coden>IATEFW</coden><abstract>In this paper, the implementation of a line-of-sight (LOS) task-space sensing methodology is presented for guidance-based microlocalization of robotic end-effectors. The novelty of the overall system is its applicability to cases that do not allow for the direct proximity measurement of the end-effector's pose (position and orientation). The mobility of the localization application dictates the minimum number and the type (planar or spatial) of the LOS that would be necessary to use and, consequently, the exact configuration of the sensing system. Although the main focus of the paper is the presentation of the proposed LOS sensing system, a brief discussion of a robot-guidance method, which relies on the use of this sensing system, is also included. Extensive experiments conducted for a high-precision 3-DOF (degrees of freedom) planar robotic platform utilizing the overall guidance system validated our research.</abstract><cop>New York</cop><pub>IEEE</pub><doi>10.1109/TMECH.2006.871101</doi><tpages>8</tpages></addata></record> |
| fulltext | fulltext_linktorsrc |
| identifier | ISSN: 1083-4435 |
| ispartof | IEEE/ASME transactions on mechatronics, 2006-04, Vol.11 (2), p.225-232 |
| issn | 1083-4435 1941-014X |
| language | eng |
| recordid | cdi_proquest_miscellaneous_896193465 |
| source | IEEE Electronic Library (IEL) |
| subjects | Cameras Degrees of freedom Detection High-precision localization Iterative algorithms line-of-sight (LOS) guidance Localization Mathematical analysis Methodology Motion control Motion measurement Particle measurements Platforms Position (location) Position measurement Real time systems Robot motion Robot sensing systems Robotics Sensor systems task-space sensing |
| title | Line-of-sight task-space sensing methodology for the localization of robotic end-effectors |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-21T05%3A49%3A46IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-proquest_RIE&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=Line-of-sight%20task-space%20sensing%20methodology%20for%20the%20localization%20of%20robotic%20end-effectors&rft.jtitle=IEEE/ASME%20transactions%20on%20mechatronics&rft.au=Nejat,%20G.&rft.date=2006-04-01&rft.volume=11&rft.issue=2&rft.spage=225&rft.epage=232&rft.pages=225-232&rft.issn=1083-4435&rft.eissn=1941-014X&rft.coden=IATEFW&rft_id=info:doi/10.1109/TMECH.2006.871101&rft_dat=%3Cproquest_RIE%3E2342944771%3C/proquest_RIE%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_pqid=865713133&rft_id=info:pmid/&rft_ieee_id=1618681&rfr_iscdi=true |