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There is described a technique permitting the inference of information for describing a 6 degree of freedom robotic manipulator goal from a two dimensional image of the object to be manipulated.
English (United States)
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Inferred Three Dimensional Machine Vision Data
There is described a technique permitting the inference of information for
describing a 6 degree of freedom robotic manipulator goal from a two
dimensional image of the object to be manipulated.
It is desired in most general vision aided robotic assembly tasks to have three
dimensional information about an object to be robotically manipulated.
Conventional ways of obtaining this information are costly in both hardware and
time, typically requiring two or more cameras and complex computations. The
present system provides an improvement by using a single camera for
determining three dimensional information.
Assuming an object at rest is at rest in one of plural stable states, recognition
parameters for the object may be taught to the vision-aided robotic system.
Then, the manipulator movement relative to the object is taught using the
following sequence. A picture of the object at rest in one of its stable states is
made. A coordinate system generated representing that position and orientation
of the object relative to a predetermined coordinate system. The coordinate
system describes the object in three degrees of freedom, and a third dimension
is chosen perpendicular to the image plane. The system user moves the
manipulator to a desired position and orientation in order to teach a
transformation representing the desired position in orientation relative to the