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Please use this identifier to cite or link to this item:
http://hdl.handle.net/2014/40513
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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
controls |
| 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. |
| URI: | http://hdl.handle.net/2014/40513 |
| Appears in Collections: | JPL TRS 1992+
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