C. A. Rosen (auth.), George G. Dodd, Lothar Rossol (eds.)'s Computer Vision and Sensor-Based Robots PDF
By C. A. Rosen (auth.), George G. Dodd, Lothar Rossol (eds.)
The aim ofthe symposium, "Computer imaginative and prescient and Sensor-Based Robots," held on the common cars study Laboratories on September 2S and 26, 1978, was once to stimulate a more in-depth interplay among humans operating in various components and to debate primary concerns with regards to imaginative and prescient and robotics. This e-book includes the papers and common discussions of that symposium, the twenty second in an annual sequence masking assorted technical disciplines which are well timed and of curiosity to basic automobiles in addition to the technical neighborhood at huge. the topic of this symposium continues to be well timed as the expense of laptop imaginative and prescient maintains to drop and there's expanding use of robots in production purposes. present commercial purposes of desktop imaginative and prescient variety from uncomplicated structures that degree or evaluate to stylish structures for half place choice and inspection. just about all business robots at the present time paintings with identified elements in identified posi tions, and we're simply now starting to see the emergence of programmable automa tion within which the robotic can react to its surroundings whilst prompted by way of visible and force-touch sensor inputs. As mentioned within the symposium, destiny advances will count mostly on examine now underway in different key parts. improvement of imaginative and prescient structures that may meet business pace and determination standards with a feeling of intensity and colour is an important step.
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Additional info for Computer Vision and Sensor-Based Robots
In the case of a loose fit PI we assume that a PAL MOVE terminated on an UNTIL ERROR will be accurate enough to start the insertion. PAL code for an actual insertion is as follows: COMPLY FORCE X WITH K = 10 COMPLY FORCE Y WITH K = 10 COMPLY TORQUE X WITH K = 100 COMPLY TORQUE Y WITH K = 100 MOVE N (·NOMINAL POSITION OF THE PIN FULLY INSERTED·) UNTIL FORCE Z @ 30; SA execution times for position motions are actually execution times for SA MOVE UNTIL FORCE or TOUCH which are given in Table 5. In the case of a P2S through P3S the robot must first insert an edge of the object into the hole and then, maintaining contact with the edge of the hole, align the axes before making the insertion as described for PI.
Nevertheless, we should learn to take advantage of our experience with human work performance, and to utilize as much as possible already established techniques and tools, where applicable, in order to plan robot work most effectively. For instance, in previous work , it was shown that based on the differences in characteristics between robots and human operators a revised technique for task analysis may be useful in designing effective work methods for a robot and for the selection of an appropriate robot for that method.
46 R. L. PAUL, S. Y. NOF Grasping the pump top with the correct orientation demonstrates another robot capability. The position of the center of the top is established using touch feedback. The position of the outlet at the edge of the top for the actual position of the center is computed. The robot hand is moved to this position and the fingers closed about the outlet to reorient the top correctly. The hand then returns to the center of the top and grasps it. Another major difference between the human operator and robot performance of this task is the manner of inserting screws.
Computer Vision and Sensor-Based Robots by C. A. Rosen (auth.), George G. Dodd, Lothar Rossol (eds.)