Accession Number : ADA182510
Title : Automatic Robot Initialization Using a Planar Target Scanned by an Optical Reflection Sensor.
Descriptive Note : Technical rept.,
Corporate Author : CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST
Personal Author(s) : Yang, R Q ; Siegel, M W
PDF Url : ADA182510
Report Date : Apr 1987
Pagination or Media Count : 20
Abstract : We describe an automatic initialization scheme for finding a point of coincidence between a robot's internal coordinate system and the coordinate system of its work space. Our method uses an optical transmitter-receiver pair mounted on the robot end effector to scan a T-shaped planar target mounted on the work surface. An automated iterative method for moving a point on the end effector into precise coincidence with the point of intersection between a sensed plane parallel to the work surface and a sensed line normal to the work surface is shown to converge rapidly.
Descriptors : *ROBOTICS, AUTOMATION, ITERATIONS, COORDINATES, INTERNAL, ROBOTS, SURFACES, OPTICAL DETECTORS, REFLECTION, COINCIDENCE COUNTING, SPACE(ROOM), WORK, CONFIGURATIONS, WRIST
Subject Categories : Cybernetics
Distribution Statement : APPROVED FOR PUBLIC RELEASE