کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
412767 679682 2010 9 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Vision guided manipulation for planetary robotics — position control
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Vision guided manipulation for planetary robotics — position control
چکیده انگلیسی

Manipulation systems for planetary exploration operate under severe restrictions. They need to integrate vision and manipulation to achieve the reliability, safety, and predictability required of expensive systems operating on remote planets. They also must operate on very modest hardware that is shared with many other systems, and must operate without human intervention.Typically such systems employ calibrated stereo cameras and calibrated manipulators to achieve precision of the order of one centimeter with respect to instrument placement activities. This paper presents three complementary approaches to vision guided manipulation designed to robustly achieve high precision in manipulation. These approaches are described and compared, both in simulation and on hardware.In situ estimation and adaptation of the manipulator and/or camera models in these methods account for changes in the system configuration, thus ensuring consistent precision for the life of the mission. All the three methods provide several-fold increases in accuracy of manipulator positioning over the standard flight approach.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 58, Issue 1, 31 January 2010, Pages 121–129
نویسندگان
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