Robot skills development using a laser range finder
Archibald, C.
Petriu, E.
Harb, A.
Inst. for Inf. Technol., Nat. Res. Council of Canada, Ottawa, Ont.;
This paper appears in: Instrumentation and Measurement, IEEE Transactions on
Publication Date: Apr 1994
Volume: 43,
Issue: 2
On page(s): 265-271
Meeting Date: 05/18/1993 - 05/20/1993
Location: Irvine, CA, USA
ISSN: 0018-9456
References Cited: 10
CODEN: IEIMAO
INSPEC Accession Number: 4747239
Digital Object Identifier: 10.1109/19.293431
Current Version Published: 2002-08-06
Abstract
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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