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Robot positioning of flexible-link manipulator using vision

Published online by Cambridge University Press:  20 May 2004

Halûk Küçük ,
Gordon Parker  and
Eric T. Baumgartner
Halûk Küçük
Affiliation:
Niğde University, Aksaray Faculty of Engineering, Aksaray (TURKEY). E-mail: hkucuk7@hotmail.com
Gordon Parker
Affiliation:
Michigan Technological University(USA).
Eric T. Baumgartner
Affiliation:
Jet Propulsion Laboratory, California Institute of Technology (USA).
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Abstract

Vision-aided flexible link robot positoning using the Camera Space Manipulation (CSM) method is developed. The primary motivation for this work is to use an autonomous vision-aided robotic system to pick-up and accurately move a flexible object that it encounters. The work consists of analytical and experimental investigation of the performance of CSM for a kinematic model of the PUMA manipulator with a flexible structure at the wrist which accounts for the gravitation. Trade-offs between camera view parameters and axial deflection model parameters were investigated. View parameter reestimation and maneuvering resulted a very accurate placement of the end-effector at the target.

Keywords

Machine visionCamera space manipulationRobotVision system
Type
Research Article
Information
Robotica , Volume 22 , Issue 3 , June 2004 , pp. 301 - 307
Copyright
© 2004 Cambridge University Press

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