Robot positioning of flexible-link manipulator using vision
Document Type
Article
Publication Date
5-1-2004
Department
Department of Mechanical Engineering-Engineering Mechanics
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.
Publication Title
Robotica
Recommended Citation
Küçük, H.,
Parker, G.,
&
Baumgartner, E.
(2004).
Robot positioning of flexible-link manipulator using vision.
Robotica,
22(3), 301-307.
http://doi.org/10.1017/S0263574703005629
Retrieved from: https://digitalcommons.mtu.edu/michigantech-p/2501