Estimation of contact position between object and environment based on probing of robot manipulator
Estimation of contact position between object and environment based on probing of robot manipulator
复制标题
基于机器人机械臂探测的物体与环境接触位置估计
DOI：
10.1109/iros.1996.571049
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发表时间：
1996
期刊：
影响因子：
--
通讯作者：
M. Koike
中科院分区：
文献类型：
--
作者：
T. Yoshikawa;Yong Yu;M. Koike
它们是装配操作中的位置和几何不确定性。为了让机器人成功地执行装配操作，需要估计固定环境的正确位置和几何信息。本文描述了一种可以根据移动物体的多个位置和方向来估计物体与环境之间的接触位置和几何信息的技术，这些位置和方向是在物体围绕接触位置在环境中灵巧地滑动和旋转时测量的。假设环境和物体是多面体。两个多面体相互接触时，存在三种基本接触对。对应于这些基本接触对，提出了三种估计方法。通过这些估计方法，可以成功估计接触部件的环境位置和几何信息。对所提出的方法进行了实验验证并概述了其结果。
Their are positional and geometric uncertainties in assembly operation. In order to perform an assembly operation by robot successfully, it is necessary to estimate the correct position and geometric information of a fixed environment. This paper describes a technique that can estimate the contact position and geometric information between the object and the environment from a number of positions and orientations of a moving object, which are measured while the object is dexterously slid and rotated on the environment around the contact position. It is assumed that the environment and object are polyhedra. There are three kinds of basic contact pairs when the two polyhedra are in contact with each other. Corresponding to these basic contact pairs, three kinds of estimation approaches are proposed. By these estimation approaches, the environment position and geometric information on contacting parts can be estimated successfully. Experimental verification on the proposed approaches is performed and its results are outlined.