A model-based vision system for manipulator position sensing

TitleA model-based vision system for manipulator position sensing
Publication TypeConference Paper
Year of Publication1989
AuthorsMulligan, I. J., A. K. Mackworth, and P. D. Lawrence
Conference NameInterpretation of 3D Scenes, 1989. Proceedings., Workshop on
Pagination186 -193
Date Publishednov.
Keywordsarm models, boom, bucket, camera models, computer vision, edge based chamfer matching, excavator, geometric constraints, manipulator position sensing, model based analysis by synthesis, position control, robots, stick, telerobotic system, video image, vision system

The task and design requirements for a vision system for manipulator position sensing in a telerobotic system are described. Model-based analysis-by-synthesis techniques offer generally applicable methods with the potential to meet the system's requirement for accurate, fast, and reliable results. Edge-based chamfer matching allows efficient computation of a measure E of the local difference between the real image and a synthetic image generated from arm and camera models. Gradient descent techniques are used to minimize E by adjusting joint angles. The dependence of each link position on the position of the link preceding it allows the search to be broken down into lower dimensional problems. Intensive exploitation of geometric constraints on the possible position and orientation of manipulator components results in a correct and efficient solution to the problem. Experimental results demonstrate the use of the implemented prototype system to locate the boom, stick, and bucket of an excavator, given a single video image


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