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Towards visually servoed manipulation of car engine parts

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4 Author(s)
Tonko, M. ; Inst. fur Algorithmen und Kognitive Syst., Karlsruhe Univ., Germany ; Schafer, K. ; Heimes, F. ; Nagel, H.H.

The disassembly of engines of used cars based on visually servoed manipulators requires a state-of-the-art vision system which is able to evaluate images of dirty, partly occluded or possibly rearranged quasi- or non-polyhedral parts in real-time. As the pose of a stationary rigid part has, in general, six degrees of freedom, at least six degrees of freedom of a manipulator have to be visually controlled. Two pose estimators relying on different types of image features are discussed within a common framework. A position-based solution to the visually servoed manipulation of non-polyhedrals is presented that extends to real time and meets all given requirements. Experiments with the manipulation of a battery, which is partly occluded by wires, show the feasibility of the proposed approach

Published in:

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on  (Volume:4 )

Date of Conference:

20-25 Apr 1997