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The EPEC Algorithm for Vision Guided Manipulation: Analysis and ValidationThis 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.
Document ID
20070036005
Acquisition Source
Jet Propulsion Laboratory
Document Type
Preprint (Draft being sent to journal)
External Source(s)
Authors
DiCicco, Matthew A.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Bajracharya, Max
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Nickels, Kevin
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Backes, Paul
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
August 24, 2013
Publication Date
March 3, 2007
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Report/Patent Number
IEEEAC Paper-1636
Meeting Information
Meeting: IEEE Aerospace Conference
Location: Big Sky, MT
Country: United States
Start Date: March 3, 2007
End Date: March 10, 2007
Sponsors: Institute of Electrical and Electronics Engineers
Distribution Limits
Public
Copyright
Other
Keywords
manipulations
controls

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