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Generically Dependent Continuant
RDF description of An optimal path-tracking algorithm for unstructured environments based on uncalibrated vision - http://orbis.uaslp.mx/vivo/individual/scopus8528
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Proceedings - IEEE International Conference on Robotics and Automation
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An optimal path-tracking algorithm for unstructured environments based on uncalibrated vision
Camera-space manipulation; Estimation; Vision Algorithms; Cameras; Computer vision; Industrial robots; Lasers; Welding; Camera-space manipulation; Path-tracking algorithm; Unstructured surfaces; Motion planning
This paper presents aspects related to the development of a technique for three-dimensional path tracking over unstructured surfaces. Path tracking is performed by an industrial robot, using a vision-based technique known as camera-space manipulation. In this work a previously-defined, three-dimensional trajectory is placed, in an optimal fashion, over a curved, unstructured surface. The method was tested with an industrial Fanuc ArcMate 100i robot, together with structured lighting in the form of a matrix array of laser beams. Such source of light provides a way to facilitate the image-analysis process required to characterize the surface where the task is going to be performed. A demanding industrial task such as welding was performed with the methodology presented herein. Experimental results show a complex path welded over a surface of unknown geometry. © 2005 IEEE.
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