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4 May 1993 Camera space control system for a mobile robot forklift
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Proceedings Volume 1831, Mobile Robots VII; (1993)
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States
In this paper we present the method of camera space manipulation for control of a mobile cart with an on-board robot. The objective is to do three dimensional object placement. The robot- cart system is operated as a forklift. The cart has a rear wheel for steering and driving, two front wheels, and a tether allowing control from a remote computer. Two remotely placed CCTV cameras provide images for use by the control system. The method is illustrated experimentally by a box stacking task. None of the components-cameras, robot-cart, or target box are prepositioned. 'Ring cues' are placed on both boxes in order to simplify the image processing. A sequential estimation scheme solves the placement problem. This scheme produces the control necessary to place the image of the grasped box at the relevant target image position in each of the two dimensional camera planes. This results in a precise and robust manipulation strategy.
© (1993) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Richard K. Miller, D. G. Stewart, W. H. Brockman, and Steven B. Skaar "Camera space control system for a mobile robot forklift", Proc. SPIE 1831, Mobile Robots VII, (4 May 1993);


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