By Topic

Predictive vision based control of high speed industrial robot paths

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
F. Lange ; DLR Inst. of Robotics & Syst. Dynamics, Wessling, Germany ; P. Wunsch ; G. Hirzinger

A predictive architecture is presented to react on sensor data in the case of high speed motion and low bandwidth sensor data. This concept is used for the vision based control of an industrial robot to track a contour at a speed of 1.6 m/s. The vision task can be performed very fast since only 2 rows of the image are analyzed. In this way an accuracy of 0.3 mm is reached in spite of uncertainties in robot's kinematic parameters. Vision and control work asynchronously so that even delay times are tolerable during sensing as long as the time-instant of the exposure is known

Published in:

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on  (Volume:3 )

Date of Conference:

16-20 May 1998