Three-dimensional object model correction for intelligent robotics

Anatoly Pashkevich; Juha Roening; Andrew V. Sidorov

doi:10.1117/12.150198

Translator Disclaimer

6 August 1993 Three-dimensional object model correction for intelligent robotics

Anatoly Pashkevich, Juha Roening, Andrew V. Sidorov

Author Affiliations +

Proceedings Volume 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods; (1993) https://doi.org/10.1117/12.150198
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

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.

Citation Download Citation

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); https://doi.org/10.1117/12.150198

ACCESS THE FULL ARTICLE