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dc.contributor.authorKelly, Cameron Brian Desmond
dc.contributor.authorDorrington, Adrian A.
dc.contributor.authorCree, Michael J.
dc.contributor.authorPayne, Andrew D.
dc.coverage.spatialConference held at San Jose, California, USAen_NZ
dc.date.accessioned2010-04-27T02:01:20Z
dc.date.available2010-04-27T02:01:20Z
dc.date.issued2010
dc.identifier.citationCameron B. D. Kelly, Adrian A. Dorrington, Michael J. Cree, and Andrew D. Payne. "Calibration and control of a robot arm using a range imaging camera," Image Processing: Machine Vision Applications III, David Fofi, Kurt S. Niel, Editors, Proc. SPIE, 7538, 75380J (2010).en
dc.identifier.urihttps://hdl.handle.net/10289/3827
dc.description.abstractTime of flight range imaging is an emerging technology that has numerous applications in machine vision. In this paper we cover the use of a commercial time of flight range imaging camera for calibrating a robotic arm. We do this by identifying retro-reflective targets attached to the arm, and centroiding on calibrated spatial data, which allows precise measurement of three dimensional target locations. The robotic arm is an inexpensive model that does not have positional feedback, so a series of movements are performed to calibrate the servos signals to the physical position of the arm. The calibration showed a good linear response between the control signal and servo angles. The calibration procedure also provided a transformation between the camera and arm coordinate systems. Inverse kinematic control was then used to position the arm. The range camera could also be used to identify objects in the scene. With the object location now known in the arm's coordinate system (transformed from the camera's coordinate system) the arm was able to move allowing it to grasp the object.en
dc.format.mimetypeapplication/pdf
dc.language.isoen
dc.publisherIS&T- the Society for Imaging Science and Technology SPIEen_NZ
dc.rightsCopyright 2010 Society of Photo-Optical Instrumentation Engineers. One print or electronic copy may be made for personal use only. Systematic or multiple reproduction, distribution to multiple locations via electronic or other means, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper are prohibited.en
dc.sourceConference on Image Processing - Machine Vision Applications IIIen_NZ
dc.subjecttime of flighten
dc.subjectrange imagingen
dc.subjectcalibrationen
dc.subjectroboticsen
dc.subjecttarget recognitionen
dc.titleCalibration and control of a robot arm using a range imaging cameraen
dc.typeConference Contributionen
dc.identifier.doi10.1117/12.838784en
dc.relation.isPartOfImage Processing: Machine Vision Applications IIIen_NZ
pubs.begin-page1en_NZ
pubs.elements-id19495
pubs.end-page8en_NZ
pubs.finish-date2010-01-21en_NZ
pubs.place-of-publicationUSAen_NZ
pubs.start-date2010-01-19en_NZ
pubs.volumeProceedings SPIEen_NZ


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