Pick-and-place guidance utilizing an integrated control method and structured light ranging

Jukka P. Riekki; Juha Roening; Olli Silven; Matti Pietikaeinen; Visa Koivunen

doi:10.1117/12.57104

1 February 1992 Pick-and-place guidance utilizing an integrated control method and structured light ranging

Jukka P. Riekki, Juha Roening, Olli Silven, Matti Pietikaeinen, Visa Koivunen

Proceedings Volume 1607, Intelligent Robots and Computer Vision X: Algorithms and Techniques; (1992) https://doi.org/10.1117/12.57104
Event: Robotics '91, 1991, Boston, MA, United States

Abstract

This paper presents a vision-guided control system for an industrial robot capable of picking up an object, moving it to a goal, and placing it there. Tasks given to the control system are based on imperfect knowledge about the environment. The control system corrects the task parameters by matching them against range information gained from the environment. The control system is part of a larger system, which includes a high-level goal-oriented planner. The planner consists of hierarchically organized planning-executing-monitoring triplets, which execute given tasks by dividing them into subtasks, by sending the subtasks either to other triplets or to the control system described in this paper, and by monitoring the execution of the subtasks. The planner sees the robot and the control system as an intelligent robot capable of executing pick-and-place tasks in a dynamic, partly unknown environment. This paper presents the results of the testing of the control system with an industrial 6-axis robot and a structured light-based range sensor. Also the principle of calibrating the robot and the sensor is presented.

Citation Download Citation

Jukka P. Riekki, Juha Roening, Olli Silven, Matti Pietikaeinen, and Visa Koivunen "Pick-and-place guidance utilizing an integrated control method and structured light ranging", Proc. SPIE 1607, Intelligent Robots and Computer Vision X: Algorithms and Techniques, (1 February 1992); https://doi.org/10.1117/12.57104

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available