Fault detection and recovery in a mobile robot vision system

Stefan Blessing

doi:10.1117/12.248587

26 August 1996 Fault detection and recovery in a mobile ro77ot vision system

Stefan Blessing

Proceedings Volume 2787, Rapid Prototyping; (1996) https://doi.org/10.1117/12.248587
Event: Lasers, Optics, and Vision for Productivity in Manufacturing I, 1996, Besancon, France

Abstract

Mobile systems in the area of modern manufacturing become more and more important. In order to handle an object with a manipulator mounted on an autonomous mobile system (AMS), the object's position has to be determined with sufficient accuracy. Especially within a flexible environment its exact 3D pose relative to the manipulator often is not known a priori. The object recognition unit of the presented system robustly accomplishes this 3D pose estimation using a single CCD camera mounted in the gripper exchange system of the mobile robot. The reliability of the results is checked by an independent fault-detection module. A recovery unit handles most of the possible problems autonomously, thus increasing the system's availability.

Citation Download Citation

Stefan Blessing "Fault detection and recovery in a mobile ro77ot vision system", Proc. SPIE 2787, Rapid Prototyping, (26 August 1996); https://doi.org/10.1117/12.248587

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