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Title: Visual end-effector position error compensation for planetary robotics
Authors: Bajracharya, Max
DiCicco, Matthew
Backes, Paul
Nickels, Kevin
Keywords: planetary robotic flight system
rock abrasion tools
Issue Date: May-2007
Publisher: Wiley Periodicals, Inc.
Citation: Journal of Field Robotics 24(5), 399–420 (2007) DOI: 10.1002/rob.20186
Abstract: This paper describes a vision-guided manipulation algorithm that improves arm end-effector positioning to subpixel accuracy and meets the highly restrictive imaging and computational constraints of a planetary robotic flight system. Analytical, simulation-based, and experimental analyses of the algorithm's effectiveness and sensitivity to camera and arm model error is presented along with results on several prototype research systems and ground-in-the-loop technology experiments on the Mars Exploration Rover (MER) vehicles. A computationally efficient and robust subpixel end-effector fiducial detector that is instrumental to the algorithm's ability to achieve high accuracy is also described along with its validation results on MER data.
Appears in Collections:JPL TRS 1992+

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