Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
On-range sensor feedback for mobile robot docking within prescribed posture tolerances
Robotics and Autonomous Mechanical Systems, IKP, Linköping University.
Robotics and Autonomous Mechanical Systems, IKP, Linköping University.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
1997 (Swedish)In: Journal of Robotic Systems, ISSN 0741-2223, E-ISSN 1097-4563, Vol. 14, no 4, p. 297-312Article in journal (Refereed) Published
Abstract [en]

The problem addressed is feedback from noncontact sensing for guiding robots during docking and gripping. The sensor used is a "range camera" onboard a mobile robot (MRb). To specify the docking task completely both the posture (position/orientation) and the required tolerances must be given. These tolerances are then used in the feedback control loop during docking. The algorithms are divided into three parts: the extraction of posture parameters from the "range camera," dynamic filtering for finding association gates and protecting the system against spuriousness in the measurements, and finally a feedback controller. The feedback controller is separated into geometric control and tolerance control. The geometric control uses a range varying LQG-designed feedback control law to generate the trajectories toward the object. The tolerance control adjusts the approach velocity so that the robot is given a sufficient number of observations and control cycles to meet the required tolerances. Thus, during the approach there is a conditional re-planning of the trajectory. For simplicity, only three kinematic state variables (x, y, θ) are used for the MRb. Gripping using an industrial robot (IRb) is an equivalent problem. Successful experiments were made with range resolution varying more than a factor of 50. Thus, the resolution volume in the (x, y, θ)-space varied by several orders of magnitude during the tests. The final errors in range and orientation are essentially limited by the resolution in the "range camera." A persistent conclusion from the experiments is the importance of correct association between the range measurements and the corresponding parts of the object

Place, publisher, year, edition, pages
1997. Vol. 14, no 4, p. 297-312
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Industrial Electronics
Identifiers
URN: urn:nbn:se:ltu:diva-3944DOI: 10.1002/(SICI)1097-4563(199704)14:43.0.CO;2-LLocal ID: 1ca283e0-033b-11de-802a-000ea68e967bOAI: oai:DiVA.org:ltu-3944DiVA, id: diva2:976806
Note
Godkänd; 1997; 20090225 (andbra)Available from: 2016-09-29 Created: 2016-09-29 Last updated: 2017-11-24Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full text

Authority records BETA

Wernersson, Åke

Search in DiVA

By author/editor
Wernersson, Åke
By organisation
Embedded Internet Systems Lab
In the same journal
Journal of Robotic Systems
Other Electrical Engineering, Electronic Engineering, Information Engineering

Search outside of DiVA

GoogleGoogle Scholar

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 37 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf