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A CAD Tool for Remote Calibration of Space Station Robotic Test Bed

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Advances in Robot Kinematics and Computational Geometry

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Abstract

This paper describes the evolution of a CAD programming tool for remote video calibration of the Internal Automation & Robotics Technology Test Bed (IARTTB) available in the WKR Section at ESTEC. First the correspondence between the CAD model of the workcell in the off-line programming system and the real world is created. Then the robot is remotely calibrated with respect to the two racks present in the workcell by using a video camera on the end effector. A software package with a user-friendly interface has been developed to carry out the calibration procedure in a systematic way.

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References

  1. Z.S. Roth, B.W. Moring, B. Ravani, “An overview of robot calibration,”IEEE J. of Robotics and Automation, 1987.

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  2. S. Hayati, K. Tso, G. Roston, “Robot geometry calibration,”IEEE J. of Robotics and Automation, 1988.

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  3. J.M. Hollerbach, “A survey of kinematics calibration,”The Robotics Review, 1, MIT Press, 1989.

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  4. D.C. Lowe, “Three-dimensional object recognition from single two-dimensional images,”Artificial Intelligence, 31, Elsevier Science Publishers, 1987.

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  5. G. Iodice, S. Illiano,Video Calibration of Internal A&B Technology Test Bed IARTTB, ESTEC Working Paper n. 1721, 1993.

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Author information

Authors and Affiliations

  1. Dipartimento di Informatica e Sistemistica, Università degli Studi di Napoli Federico II, Via Claudio 21, 80125, Napoli, Italy

    Salvatore Illiano, Giovanni Iodice & Bruno Siciliano

Authors
  1. Salvatore Illiano
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  2. Giovanni Iodice
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  3. Bruno Siciliano
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Editor information

Editors and Affiliations

  1. “Jozef Stefan” Institute, University of Ljubljana, Slovenia

    Jadran Lenarčič

  2. University of California, Davis, California, USA

    Bahram Ravani

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© 1994 Springer Science+Business Media Dordrecht

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Illiano, S., Iodice, G., Siciliano, B. (1994). A CAD Tool for Remote Calibration of Space Station Robotic Test Bed. In: Lenarčič, J., Ravani, B. (eds) Advances in Robot Kinematics and Computational Geometry. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-8348-0_11

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  • DOI: https://doi.org/10.1007/978-94-015-8348-0_11

  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-90-481-4434-1

  • Online ISBN: 978-94-015-8348-0

  • eBook Packages: Springer Book Archive

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