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Vision Algorithms to Determine Shape and Distance for Manipulation of Unmodeled ObjectsThis paper discusses the development of a robotic system for general use in an unstructured environment. This is illustrated through pick and place of randomly positioned, un-modeled objects. There are many applications for this project, including rock collection for the Mars Surveyor Program. This system is demonstrated with a Puma560 robot, Barrett hand, Cognex vision system, and Cimetrix simulation and control, all running on a PC. The demonstration consists of two processes: vision system and robotics. The vision system determines the size and location of the unknown objects. The robotics part consists of moving the robot to the object, configuring the hand based on the information from the vision system, then performing the pick/place operation. This work enhances and is a part of the Low Cost Virtual Collaborative Environment which provides remote simulation and control of equipment.
Document ID
Acquisition Source
Document Type
Conference Paper
Montes, Leticia
(New Mexico Univ. Albuquerque, NM United States)
Bowers, David
(New Mexico Univ. Albuquerque, NM United States)
Lumia, Ron
(New Mexico Univ. Albuquerque, NM United States)
Date Acquired
August 19, 2013
Publication Date
February 22, 1998
Publication Information
Publication: NASA University Research Centers Technical Advances in Aeronautics, Space Sciences and Technology, Earth Systems Sciences, Global Hydrology, and Education
Volume: 2 and 3
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Report/Patent Number
Funding Number(s)
Distribution Limits
Work of the US Gov. Public Use Permitted.
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