Abstract
This paper describes a model-based manipulation system being developed at Electrotechnical Laboratory. The system is composed of a direct-drive 6-revolute-joints manipulator ETA-3, a 3-D data acquisition system, an environment modeler with a geometric reasoning subsystem, and a programming system ETAlisp. Conventional CAD modeler provides idealized geometric description, while the robot system must executes tasks in the real world where a variety of constraints, errors and uncertainties must be treated. The system described in this paper is an integration to overcome these problems. A model base structure, a real world modeling system, a spatial calibration among coordinate frames, and a task execution system are described.
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Reference
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Hasegawa, T., Suehiro, T., Ogasawara, T. (1988). Model-Based Integration of Environment Description and Task Execution. In: Ravani, B. (eds) CAD Based Programming for Sensory Robots. NATO ASI Series, vol 50. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-83625-1_14
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DOI: https://doi.org/10.1007/978-3-642-83625-1_14
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-83627-5
Online ISBN: 978-3-642-83625-1
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