Journal article
Handling uncertainties of robot manipulators and active vision by constraint propagation
Journal of robotic systems, v 19(9), pp 427-441
Sep 2002
Abstract
Joint errors are inevitable in robot manipulation. These uncertainties propagate to give rise to translational
and orientational errors in the position and orientation of the robot end‐effector. The displacement of
the active vision head mounted on the robot end‐effector produces distortion of the projected object on
the image. Upon active visual inspection, the observed dimension of a mechanical part is given dimension by the
measurement on the projected edge segment on the image. The difference between the observed dimension and the
actual dimension is the displacement error in active vision. For different motion of the active vision head, the
resulting displacement errors are different. Given the uncertainties of the robot manipulator's joint
errors, constraint propagation can be employed to assign the motion of the active sensor in order to satisfy the
tolerance of the displacement errors for inspection. In this article, we define the constraint consistency and
network satisfaction in the constraint network for the problem of displacement errors in active vision. A
constraint network is a network where the nodes represent variables, or constraints, and the arcs represent the
relationships between the output variables and the input variables of the constraints. In the displacement errors
problem, the tolerance of the displacement errors and the translational and orientational errors of robot
manipulators have interval values while the sensor motion has real values. Constraint propagation is developed to
propagate the tolerance of displacement errors in the hierarchical interval constraint network in order to find
the feasible robot motion. © 2002 Wiley Periodicals, Inc.
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Details
- Title
- Handling uncertainties of robot manipulators and active vision by constraint propagation
- Creators
- Christopher C YangFrank W CiaralloMichael M Marefat
- Publication Details
- Journal of robotic systems, v 19(9), pp 427-441
- Publisher
- Wiley Subscription Services, Inc., A Wiley Company; New York
- Number of pages
- 15
- Resource Type
- Journal article
- Language
- English
- Academic Unit
- Information Science
- Web of Science ID
- WOS:000177686100002
- Scopus ID
- 2-s2.0-0036712877
- Other Identifier
- 991014878298004721
InCites Highlights
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- Collaboration types
- Domestic collaboration
- International collaboration
- Web of Science research areas
- Robotics