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26 August 1996 Fault detection and recovery in a mobile ro77ot vision system
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Proceedings Volume 2787, Rapid Prototyping; (1996)
Event: Lasers, Optics, and Vision for Productivity in Manufacturing I, 1996, Besancon, France
Mobile systems in the area of modern manufacturing become more and more important. In order to handle an object with a manipulator mounted on an autonomous mobile system (AMS), the object's position has to be determined with sufficient accuracy. Especially within a flexible environment its exact 3D pose relative to the manipulator often is not known a priori. The object recognition unit of the presented system robustly accomplishes this 3D pose estimation using a single CCD camera mounted in the gripper exchange system of the mobile robot. The reliability of the results is checked by an independent fault-detection module. A recovery unit handles most of the possible problems autonomously, thus increasing the system's availability.
© (1996) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Stefan Blessing "Fault detection and recovery in a mobile ro77ot vision system", Proc. SPIE 2787, Rapid Prototyping, (26 August 1996);

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