Automatic Robot Initialization Using a Planar Target Scanned by an Optical Reflection Sensor
Tech. Report, CMU-RI-TR-87-09, Robotics Institute, Carnegie Mellon University, April, 1987
Abstract
We describe an automatic initialization scheme for finding a point of coincidence betwcen a robot's internal coordinate system and the coordinate systcm of its work space. Our mcthod uses an optical transmitter-reccivcr pair mountcd on the robot end effector to scan a T-shaped planar target mounted on the work surface. An automated itcrative mcthod for moving a point on the end effector into precise coincidence with the point of intcrscction betwcen a sensed plane parallel to thc work surface and a sensed line normal to the work surface is shown to converge rapidly.
BibTeX
@techreport{Yang-1987-15326,author = {R. Q. Yang and Mel Siegel},
title = {Automatic Robot Initialization Using a Planar Target Scanned by an Optical Reflection Sensor},
year = {1987},
month = {April},
institute = {Carnegie Mellon University},
address = {Pittsburgh, PA},
number = {CMU-RI-TR-87-09},
}
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