Real-Time Robot Joint Variable Extraction from a Laser Scanner

TitleReal-Time Robot Joint Variable Extraction from a Laser Scanner
Publication TypeConference Paper
Year of Publication2007
AuthorsKashani, A. H., W. S. Owen, P. D. Lawrence, and R. A. Hall
Conference NameAutomation and Logistics, 2007 IEEE International Conference on
Pagination2994 -2999
Date Publishedaug.
Keywordscontrol engineering computing, excavators, iterative closest point algorithm, iterative methods, joint angle evaluation, laser scanner, mining equipment, mobile robots, optical scanners, pose estimation, production engineering computing, real-time robot joint variable extraction, robot excavator bucket pose estimation
Abstract

This paper describes a customized iterative closest point (ICP) algorithm for robot excavator bucket pose estimation and joint angle evaluation using a laser scanner. The proposed ICP variant handles noise, occlusion and partial- overlapping. The method has been tested on a Takeuchi mini-excavator and proved to be reliable with minimal workspace error. The angle estimations were found to be accurate. A comparison has been provided between the angle estimation results and the measurements from joint angle sensors.

URLhttp://dx.doi.org/10.1109/ICAL.2007.4339095
DOI10.1109/ICAL.2007.4339095

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