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