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Real-Time Part Position Sensing

Author(s)
Gordon, Steven J.; Seering, Warren P.
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Abstract
A light stripe vision system is used to measure the location of polyhedral features of parts from a single frame of video camera output. Issues such as accuracy in locating the line segments of intersection in the image and combining redundant information from multiple measurements and multiple sources are addressed. In 2.5 seconds, a prototype sensor was capable of locating a two inch cube to an accuracy (one standard deviation) of .002 inches (.055 mm) in translation and .1 degrees (.0015 radians) in rotation. When integrated with a manipulator, the system was capable of performing high precision assembly tasks.
Date issued
1988-05-01
URI
http://hdl.handle.net/1721.1/6045
Other identifiers
AIM-1032
Series/Report no.
AIM-1032
Keywords
real-time vision, sensor based assembly, vision forsmanipulation, light stripe sensor, quantization errors, sensor datasfusion

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