Robot positioning of flexible-link manipulator using vision

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dc.authorid0000-0001-8503-6624
dc.contributor.authorKucuk, H
dc.contributor.authorParker, G
dc.contributor.authorBaumgartner, ET
dc.date.accessioned2019-08-01T13:38:39Z
dc.date.available2019-08-01T13:38:39Z
dc.date.issued2004
dc.departmentNiğde ÖHÜ
dc.description.abstractVision-aided flexible link robot positoning using the Camera Space Manipulation (CSM) method is developed. The primary motivation for this work is to use an autonomous vision-aided robotic system to pick-up and accurately move a flexible object that it encounters. The work consists of analytical and experimental investigation of the performance of CSM for a kinematic model of the PUMA manipulator with a flexible structure at the wrist which accounts for the gravitation. Trade-offs between camera view parameters and axial deflection model parameters were investigated. View parameter reestimation and maneuvering resulted a very accurate placement of the end-effector at the target.
dc.identifier.doi10.1017/S0263574703005629
dc.identifier.endpage307
dc.identifier.issn0263-5747
dc.identifier.scopus2-s2.0-2942754132
dc.identifier.scopusqualityQ1
dc.identifier.startpage301
dc.identifier.urihttps://dx.doi.org/10.1017/S0263574703005629
dc.identifier.urihttps://hdl.handle.net/11480/5666
dc.identifier.volume22
dc.identifier.wosWOS:000222299300005
dc.identifier.wosqualityQ3
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.institutionauthor[0-Belirlenecek]
dc.language.isoen
dc.publisherCAMBRIDGE UNIV PRESS
dc.relation.ispartofROBOTICA
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.subjectmachine vision
dc.subjectcamera space manipulation
dc.subjectrobot
dc.subjectvision system
dc.titleRobot positioning of flexible-link manipulator using vision
dc.typeArticle

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