Robot skills development using a laser range finder
Archibald, C.; Petriu, E.; Harb, A.
Instrumentation and Measurement, IEEE Transactions on
Volume 43, Issue 2, Apr 1994 Page(s):265 - 271
Digital Object Identifier 10.1109/19.293431
Summary:A wrist-mounted laser range finder is used to develop robot
skills. This is an active sensor which projects a spot of laser light
that is scanned across a surface measuring the range by triangulation.
Interpretation of the data, how the data affect the control loop, and
how these steps can be combined to create a required functionality are
addressed by a new computational paradigm called SKORP (SKills-Oriented
Robot Programming). Robot operations are constructed as a sequence of
robot skills. The objective is to develop a computational environment
where the real-time systems programming is separate from the
application-oriented programming. The application programming
environment is iconic, and examples of how the robot operation is
specified are shown. The systems programmer develops the skills on a
multiprocessor architecture. The development of a skill which uses the
range finder in the control loop is described. In this skill an edge on
a surface is tracked while the pose of the end effector of the robot is
held constant with respect to the edge in five degrees of freedom
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