Mousebuster: a robot for real-time catching

Buttazzo, Giorgio; Allotta, Benedetto; Fanizza, F.P.

doi:10.1109/37.257894

Cited by 47 publications

(1 citation statement)

References 18 publications

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“…Chang [9] also proposed a strategy to implement path tracking control in the absence of correspondence information related to the desired trajectory between the two cameras. Buttazzo et al [10] used a five-axis robotic manipulator to automatically grasp 3-D objects in different heights. Using an eye-in-hand framework, a CCD camera was moved a fixed distance along the z-axis.…”

Section: Introductionmentioning

confidence: 99%

Hand-Eye Coordination for Robotic Assembly Tasks

Chang

2012

AUSMT

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This paper addresses issues related to the design and implementation of robotic assembly tasks. Specifically, we consider automatic assembly systems with real-time visual sensing for the back shells of cellular phones. Typically, industrial assembly tasks are accomplished using either the look-then-move open-loop or the look-and-move closed-loop control approach. For either approach, successful assembly requires that issues concerned with task accuracy must be considered based on camera calibration parameters. For the hand-eye robotic system to operate in real-time, one must adopt an appropriate control structure to maximize task efficiency. Simple and repetitive assembly tasks can be performed quickly through look-then-move open-loop controls. However, relatively slower look-and-move closed-loop control approaches are better suited for complex tasks or those requiring greater flexibility. To accomplish automatic assembly tasks with real-time visual sensing, either eye-to-hand or eye-in-hand vision must be employed. The proposed vision-based control approaches for back shell assembly tasks are likely to have real potential in industrial manufacturing applications

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Section: Introductionmentioning

confidence: 99%

Hand-Eye Coordination for Robotic Assembly Tasks

Chang

2012

AUSMT

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Manipulation and Control

Fernández

Allouis

Seweryn

et al. 2016

Contemporary Planetary Robotics

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Near‐time optimal robot motion planning foe on‐line applications

1995

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Solving current formulations of the time‐optimal point‐to‐point motion problem for robotic manipulators is a computationally intensive task. Thus, most existing solutions are not suitable for on‐line motion planning applications, such as the interception of moving targets, where time‐optimality of the motion is advantageous. A novel technique is proposed in this article that separates the time‐optimal point‐to‐point motion problem into the following two sub‐problems: (1) selection of a near‐time‐optimal path between the two endpoints, and (2) generation of time‐optimal motion along the selected path (i.e., constrained continuous path motion). Although our approach uses known path‐constrained time‐optimal‐motion algorithms for the second sub‐problem, a new method is proposed for the selection of near‐time‐optimal paths. Based on a study of the characteristics of global‐time‐optimal paths, the near‐optimal path is selected as a minimum‐curvature joint spline, tangent to one of the manipulator's acceleration directions at the start point, and tangent to the required manipulator velocity direction at the end point. The algorithm for determining the overall near‐optimal path is described herein, along with an example. Simulation test results and computation‐time studies indicate that the proposed method is suitable for on‐line motion planning applications. © 1995 John Wiley & Sons, Inc.

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Mousebuster: a robot for real-time catching

Cited by 47 publications

References 18 publications

Hand-Eye Coordination for Robotic Assembly Tasks

Hand-Eye Coordination for Robotic Assembly Tasks

Manipulation and Control

Near‐time optimal robot motion planning foe on‐line applications

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