Comparison of registration methods for mobile manipulators
| العنوان: | Comparison of registration methods for mobile manipulators |
|---|---|
| المؤلفون: | Sebti Foufou, Roger V. Bostelman, Omar A. Enein, Steven Legowik, Roger D. Eastman, Tsai H. Hong |
| المساهمون: | Laboratoire Electronique, Informatique et Image ( Le2i ), Université de Bourgogne ( UB ) -AgroSup Dijon - Institut National Supérieur des Sciences Agronomiques, de l'Alimentation et de l'Environnement-Centre National de la Recherche Scientifique ( CNRS ), National Institute of Standards and Technology [Gaithersburg] ( NIST ), Loyola University Maryland, Department of Computer Science & Engineering [Qatar], Qatar University, Laboratoire Electronique, Informatique et Image [UMR6306] (Le2i), Université de Bourgogne (UB)-Centre National de la Recherche Scientifique (CNRS)-École Nationale Supérieure d'Arts et Métiers (ENSAM), Arts et Métiers Sciences et Technologies, HESAM Université (HESAM)-HESAM Université (HESAM)-Arts et Métiers Sciences et Technologies, HESAM Université (HESAM)-HESAM Université (HESAM)-AgroSup Dijon - Institut National Supérieur des Sciences Agronomiques, de l'Alimentation et de l'Environnement, National Institute of Standards and Technology [Gaithersburg] (NIST), Loyola University [Maryland, Baltimore], Department of Computer Science & Engineering [Qatar] (DCSE), Université de Bourgogne (UB)-École Nationale Supérieure d'Arts et Métiers (ENSAM), HESAM Université (HESAM)-HESAM Université (HESAM)-AgroSup Dijon - Institut National Supérieur des Sciences Agronomiques, de l'Alimentation et de l'Environnement-Centre National de la Recherche Scientifique (CNRS) |
| المصدر: | 19th International Conference on Clawar 2016 19th International Conference on Clawar 2016, Sep 2016, London, United Kingdom. pp.205-213, 2016, Advances in Cooperative Robotics: Proceedings of the 19th International Conference on Clawar 2016. 〈10.1142/9789813149137_0026〉 19th International Conference on Clawar 2016, Sep 2016, London, United Kingdom. pp.205-213, ⟨10.1142/9789813149137_0026⟩ |
| بيانات النشر: | HAL CCSD, 2016. |
| سنة النشر: | 2016 |
| مصطلحات موضوعية: | 0209 industrial biotechnology, Engineering, [ INFO ] Computer Science [cs], Real-time computing, ComputerApplications_COMPUTERSINOTHERSYSTEMS, 02 engineering and technology, Automated guided vehicles, 01 natural sciences, Docking, law.invention, 010309 optics, 020901 industrial engineering & automation, law, 0103 physical sciences, Mobile robots, Performance measurement, [INFO]Computer Science [cs], Mobile manipulator, Simulation, Factory floor, Workpiece registrations, business.industry, Automatic guided vehicles, Industrial manipulators, Mobile robot, Robot end effector, Automation, Manipulators, Performance standards, Optical tracking, Industrial assemblies, Safety and performance standards, business, Optical tracking systems, Registration methods |
| الوصف: | Mobile manipulators can be effective, efficient, and flexible for automation on the factory floor but will need safety and performance standards for wide adoption. This paper looks at a specific area of performance standards [1] for docking and workpiece registration, with the intent of evaluating how quickly, repeatably, and accurately a mobile manipulator end effector can be aligned with a known physical target to facilitate peg-inhole insertion tasks. To evaluate mobile manipulator docking, we conducted experiments with an automated guided vehicle (AGV)-mounted arm in a laboratory space equipped with an extensive optical tracking system and a standardized test piece (artifact) simulating an industrial assembly. We experimented with different strategies and sensors for registration and report on these approaches. 2016, World Scientific Publishing Co. Pte Ltd. All rights reserved. Scopus |
| اللغة: | English |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_dedup___::7ef913b47921b6395d756bbda3bef870 https://hal.archives-ouvertes.fr/hal-01401564/document |
| حقوق: | OPEN |
| رقم الأكسشن: | edsair.doi.dedup.....7ef913b47921b6395d756bbda3bef870 |
| قاعدة البيانات: | OpenAIRE |
| الوصف غير متاح. |