Abstract
In this paper we propose a control algorithm using two independent lasers and CCD camera for the 2D trajectory tracking. Using this algorithm, the real time trajectory tracking of an articulated robot arm can be realized with some conditions imposed on the robot end effector.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
T.A.G. Heeren and F.E. Veldpaus, “An Optical System to Measure the End Effector Position for On-line Control Purposes”, The International Journal of Robotics Research, Vol. 11, No. 1, February 1992.
S. Venkatesen and C. Archibald, “Real-time Tracking in Five Degrees of Freedom Using Two Wrist-mounted Laser Range Finders”, IEEE Compute. Soc. Press., 1990, Vol.3, pp. 1004–1010
S. Venkatesen and C. Archibald, “Real-time Tracking in Five Degrees of Freedom Using Two Wrist-mounted Laser Range Finders”, Conference Cincinnati, OH, USA, 13–18 May 1990.
M. Rioux and al., “Design of a Large Depth of View Three-Dimensional Camera for Robot Vision”, Optical Engineering, Vol. 26, No. 12, p. 1245, 1987.
C. Archibald and al., “Real-time Feedback Control Using a Laser Range Finder and Harmony”, Proc. of the 7th Canadian CAD/CAM and Robotics Conference, pp. 6–56, 1988.
S. Verkatesan and C. Archibald, “Three Degree of Freedom Tracking in Real Time Using a Wrist-mounted Laser Range Finder”, Proc. of the 2nd Conference on Intelligent Autonomous Systems, p. 386, 1989.
M. Kabuka, J. Desoto and J. Miranda, “Robot Vision Tracking System”, IEEE Transactions On Industrial Electronics, Vol. 35, N° 1, February 1988.
S. Ranade and J.M.S. Prewitt, “A comparison of some segmentation algorithms for cytology”, in Proc. 5th Int. Conf. Pattern recognition, pp. 561–564, December 1980.
J.S. Weszka, “A survey of threshold selection techniques”, Comput. Graphics and Image Processing 7, pp. 259–269, 1978.
R Kohler, “A segmentation system based on thresholding”, Comput. Graphics and Image Processing 15, 99. 319–338, 1981.
A. Rosenfeld, “Image pattern recognition”, Proc. IEEE, Vol. 69, May 1981.
C. Shevington, G. Flochs and B. Schaming, “A statistical approach to image segmentation”, in Proc. Pattern Recognition Image Processing, pp. 267–272, August 1981.
C.H. Chen, “On the statistical image segmentation techniques”, in Proc. Pattern recognition Image Processing, pp. 262–266, August 1981.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1994 Springer-Verlag Tokyo
About this paper
Cite this paper
Ghenaim, A., Koncar, V., Benamar, S., Chouar, A. (1994). Real Time Robot Tracking System with Two Independent Lasers. In: Asama, H., Fukuda, T., Arai, T., Endo, I. (eds) Distributed Autonomous Robotic Systems. Springer, Tokyo. https://doi.org/10.1007/978-4-431-68275-2_7
Download citation
DOI: https://doi.org/10.1007/978-4-431-68275-2_7
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-68277-6
Online ISBN: 978-4-431-68275-2
eBook Packages: Springer Book Archive