The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

We describe an automatic initialization scheme for finding a point of coincidence betwcen a robot's internal coordinate system and the coordinate systcm of its work space. Our mcthod uses an optical transmitter-reccivcr pair mountcd on the robot end effector to scan a T-shaped planar target mounted on the work surface. An automated itcrative mcthod for moving a point on the end effector into precise coincidence with the point of intcrscction betwcen a sensed plane parallel to thc work surface and a sensed line normal to the work surface is shown to converge rapidly.

Notes

Grant ID: #F33615-86-C-5-38

Associated Center(s) / Consortia: Center for Integrated Manfacturing Decision Systems

Associated Lab(s) / Group(s): Intelligent Sensor, Measurement, and Control Lab

Text Reference

R. Q. Yang and Mel Siegel, "Automatic Robot Initialization Using a Planar Target Scanned by an Optical Reflection Sensor," tech. report CMU-RI-TR-87-09, Robotics Institute, Carnegie Mellon University, April, 1987

BibTeX Reference

@techreport{Siegel_1987_147,
   author = "R. Q. Yang and Mel Siegel",
   title = "Automatic Robot Initialization Using a Planar Target Scanned by an Optical Reflection Sensor",
   booktitle = "",
   institution = "Robotics Institute",
   month = "April",
   year = "1987",
   number= "CMU-RI-TR-87-09",
   address= "Pittsburgh, PA",
}

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