Acquisition of randomly moving objects by visual guidance

Antonius J. Hendriks

doi:10.1117/12.150205

6 August 1993 Acquisition of randomly moving objects by visual guidance

Antonius J. Hendriks

Proceedings Volume 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods; (1993) https://doi.org/10.1117/12.150205
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

This paper describes an integral approach to the acquisition of randomly moving objects with a robot. The acquisition problem is phrased as a feedback control problem that explicitly models the target dynamics but justifiably excludes the robot dynamics. The target's position deviation with respect to the robot is sensed by a camera mounted within the end-effector and used to servo the robot governed by controller-observer pairs. Acquisition takes place once the system is sufficiently certain about the target's motion pattern. A good balance is found for the trade- off in this phase between a decreasing field of view for the camera and the need to get close for acquisition. The approach was tested on a PUMA-560 robot with a gripper mounted camera. The experimental system can acquire objects that are moving randomly on a table; an early version was integrated in a kitting robot cell.

Citation Download Citation

Antonius J. Hendriks "Acquisition of randomly moving objects by visual guidance", Proc. SPIE 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods, (6 August 1993); https://doi.org/10.1117/12.150205

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