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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Roth, G. O'Hara, D. |
| Copyright Year | 1987 |
| Description | Author affiliation: National Research of Canada, Ottawa, Canada (Roth, G.) |
| Abstract | The acquisition of parts by a robot is an important problem industrially. The parts may be of various types and can be separate or jumbled together. We have mounted a laser rangefinder on the wrist of a robot and use the profile data it gives to determine a location, called a holdsite, at which to grasp the part. The laser rangefinder is lightweight and collects data quickly with more than sufficient accuracy for this application. The parts are not recognized, instead the best holdsite according to the criteria of stability and safety is chosen using methods from the field of spatial planning. The method has been tested on a variety of parts, from screws to rings and works well. The time required to acquire a part is approximately one minute but we believe this time can be decreased substantially to about ten seconds per part. |
| Starting Page | 1517 |
| Ending Page | 1523 |
| File Size | 750868 |
| Page Count | 7 |
| File Format | |
| DOI | 10.1109/ROBOT.1987.1087916 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1987-03-01 |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Wrist Service robots Intelligent robots Safety Law Legal factors Stability criteria Laboratories Intelligent systems Testing |
| Content Type | Text |
| Resource Type | Article |
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