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Robotic motion planning and manipulation in an uncalibrated environment

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5 Author(s)
Ghosh, B.K. ; Washington Univ., St. Louis, MO, USA ; Tzyh Jong Tarn ; Ning Xi ; Zhenyu Yu
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The authors analyze planning and control problems in “robotic manipulation” in an uncalibrated environment consisting of a PUMA 560 robotic manipulator, a rotating turntable equipped with an encoder and a CCD camera based vision sensor fixed permanently on the ceiling. It is assumed that a part with a known shape but unknown orientation is placed on the turntable which is rotating with an unknown motion dynamics. Furthermore, the calibration parameters are a priori assumed to be unknown. The objective is to track the rotating part with an a priori specified relative orientation. The task considered is of importance in various problems concerning industrial automation, such as part-feeding and tool-changing

Published in:

Robotics & Automation Magazine, IEEE  (Volume:5 ,  Issue: 4 )