SME MS910314

THE U.S. ARMY ARMAMENT RESEARCH, DEVELOPMENT, AND ENGINEERING CENTER (ARDEC) IS STUDYING APPROACHES TO USING ROBOTS FOR A WIDE RANGE OF MUNITIONS HANDLING AND MAINTENANCE FUNCTIONS. FOR THESE APPLICATIONS TO BE PRACTICAL, THEY MUST OPERATE IN A VERY UNSTRUCTURED ENVIRONMENT WHERE THE OBJECTS OF INTEREST MAY BE MOVING, MAY BE SIGNIFICANTLY OUT OF POSITION FROM WHERE THEY ARE EXPECTED TO BE, ETC. THIS PAPER REPORTS ON EXPERIMENTS CONDUCTED AT ARDEC TO STUDY THE SPEED AND PRECISION WITH WHICH CURRENT GENERATION ROBOTS CAN RESPOND TO VISUAL INFORMATION. THE GOAL OF THE WORK WAS TO IMPLEMENT A FULLY THREE-DIMENSIONAL HAND-EYE COORDINATION SYSTEM WITH AN ACCURACY OF BETTER THAN 1 CM THROUGHOUT THE VOLUME OF A PUMA 560 ROBOT, AND WITH A RESPONSE TIME SUFFICIENT TO ALLOW A ROBOT TO CATCH A FREELY THROWN BALL. THIS PAPER FOCUSES ON CAMERA CALIBRATION, AND ON ROBOT SMOOTHING, WHICH WERE THE TWO P

Product Details

Published:

06/01/1991

Number of Pages:

12

File Size:

1 file , 920 KB