Automatic Robot Initialization Using a Planar Target Scanned by an Optical Reflection Sensor.

Abstract

We describe an automatic initialization scheme for finding a point of coincidence between a robot's internal coordinate system and the coordinate system of its work space. Our method uses an optical transmitter-receiver pair mounted on the robot end effector to scan a T-shaped planar target mounted on the work surface. An automated iterative method for moving a point on the end effector into precise coincidence with the point of intersection between a sensed plane parallel to the work surface and a sensed line normal to the work surface is shown to converge rapidly.

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Document Details

Document Type
Technical Report
Publication Date
Apr 01, 1987
Accession Number
ADA182510

Entities

People

  • M. W. Siegel
  • Rui Q. Yang

Organizations

  • Carnegie Mellon University

Tags

Communities of Interest

  • Autonomy
  • Materials and Manufacturing Processes
  • Sensors

DTIC Thesaurus Topics

  • Accuracy
  • Automatic
  • Computer Simulations
  • Coordinate Systems
  • Detection
  • Detectors
  • Equations
  • Errors
  • Iterations
  • Joints (Anatomy)
  • Quadrants
  • Reflection
  • Robots
  • Rotation
  • Shoulder
  • Simulations

Fields of Study

  • Physics

Readers

  • Approximation Theory.
  • Artificial Intelligence
  • Radar Systems Engineering.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Space
  • Space - Spacecraft Maneuvers