Workpiece Orientation Correction with a Robot Arm Using Visual Information
Abstract
If robots had the capability of supplying machines with workpieces which are not preoriented, there would be a substantial increase in the number of robots used in industry. A significant contribution to this development would be a method which yields a trajectory whereby such a robot held workpiece can be transported from its receptacle to a machine fixture without a collision. An algorithm is described to find such a trajectory. This algorithm employs refinement of an initial estimate of the position and orientation of a robot held workpiece. The refinement procedure uses visual information. With the refined estimate of the hand-to-workpiece transformation, the workpiece can be moved through a safe trajectory, which was established during a prior instruction phase.
Cite
Text
Birk et al. "Workpiece Orientation Correction with a Robot Arm Using Visual Information." International Joint Conference on Artificial Intelligence, 1977.Markdown
[Birk et al. "Workpiece Orientation Correction with a Robot Arm Using Visual Information." International Joint Conference on Artificial Intelligence, 1977.](https://mlanthology.org/ijcai/1977/birk1977ijcai-workpiece/)BibTeX
@inproceedings{birk1977ijcai-workpiece,
title = {{Workpiece Orientation Correction with a Robot Arm Using Visual Information}},
author = {Birk, John R. and Kelley, Robert B. and Badami, Vivek V.},
booktitle = {International Joint Conference on Artificial Intelligence},
year = {1977},
pages = {758},
url = {https://mlanthology.org/ijcai/1977/birk1977ijcai-workpiece/}
}