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6 August 1993 Three-dimensional object model correction for intelligent robotics
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Proceedings Volume 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods; (1993)
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States
The paper deals with geometrical model correction of 3D rigid objects situated in the robotic environment. This problem is extremely important both for intelligent robots and for industrial robotic workcells. The proposed approach is based on computing homogeneous transformation matrix that describes the relation between locations in real robot environment and their images in a world model maintained by a robot control system. Detail error analysis and computational experiments were carried out to investigate proposed algorithm robustness and reliability. Experimental verification of the algorithm is presented. The workcell calibration method was integrated into a robot off-line programming system for PUMA and KUKA robots.
© (1993) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Anatoly Pashkevich, Juha Roening, and Andrew V. Sidorov "Three-dimensional object model correction for intelligent robotics", Proc. SPIE 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods, (6 August 1993);


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