Abstract
In this paper, geometric modelling aspects related with the use of a pair of vision cameras and ultrasonic sensors mounted on a six degrees-offreedom manipulator are described. The information for both types of sensors is used to generate the depth map of the environment. An approach is described to obtain the transformation which relates a coordinate frame associated with an ultrasonic system and the tool coordinate frame. Geometrical aspects related to the use of the ultrasonic system in tasks such as the evaluation of planar-surface equations and manipulator surface following are described, as well. In another section, a method used to calibrate the vision cameras and its optimization by recalibration is presented. The recalibration procedure is made by exploiting the capability of positioning the stereo set in different positions within the workspace.
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© 1991 Springer-Verlag Berlin Heidelberg
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Nunes, U., Dias, J., de Almeida, A.T. (1991). Geometric Modeling Aspects on Vision and Ultrasonic Range Sensing for Robotic Applications. In: Jordanides, T., Torby, B. (eds) Expert Systems and Robotics. NATO ASI Series, vol 71. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-76465-3_5
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DOI: https://doi.org/10.1007/978-3-642-76465-3_5
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