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Title: The EPEC algorithm for vision guided manipulation : analysis and validation
Authors: DiCicco, Matthew A.
Bajracharya, Max
Nickels, Kevin
Backes, Paul
Keywords: manipulations
Issue Date: 3-Mar-2007
Publisher: Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2007.
Citation: IEEE Aerospace Conference, Big Sky, Montana, March 3 - 10, 2007
Abstract: This paper describes the simulated performance and experimental validation of a computationally efficient algorithm for improving positioning accuracy of robot arms using low speed feedback from fixed stereo cameras. The algorithm, called End-Effector Position Error Compensation (EPEC) is robust to visual occlusion of the end-effector and does not require high fidelity calibration of either the arm or stereo camera. The algorithm works by calculating an error vector between the locations of a fiducial on the arm’s end-effector as predicted by arm kinematics and detected by a stereo camera triangulation. With this knowledge, the commanded target pose is adjusted to compensate for positioning errors. A simulation environment where arbitrary error can be introduced into arm-camera systems is introduced and used to provide an assessment of the performance of the algorithm under both ideal and degraded conditions.
Appears in Collections:JPL TRS 1992+

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