NDLI: Measuring and processing arbitrary oriented object by robots

Content Provider	IEEE Xplore Digital Library
Author	Wei Tao
Copyright Year	1993
Description	Author affiliation: Dept. of Mech. Eng., Victoria Univ., BC, Canada (Wei Tao)
Abstract	In some applications, robots are needed to perform specific tasks on an arbitrary oriented object, such as, grinding, polishing and curve drawing, etc. Thus, the location, surface boundary and surface equation of the object need to be known in advance so as to generate force/position trajectories for the required tasks on the object. In this paper, an approach for modelling an arbitrary oriented object surface is proposed. The approach is based on the robot sensing changes in its environment by use of a force sensor on its end effector. When an object is encountered in the workspace, the force/position control and force feedback enable the robot to track along the object's surface and collect position information to be used for object surface modelling. Experimental results are presented.
Starting Page	306
Ending Page	311
File Size	406447
Page Count	6
File Format	PDF
ISBN	0780309111
DOI	10.1109/ICSMC.1993.384888
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1993-10-17
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force control Robot kinematics Force sensors Robot sensing systems Grippers Force feedback Torque Laboratories Mechanical engineering Engineering drawings
Content Type	Text
Resource Type	Article

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Measuring and processing arbitrary oriented object by robots