4 accepted papers
We provide a framework for 6 DOF pose estimation in seam-tracking applications using particle filtering. The particle filter algorithm developed incorporates measurements from both a 2 DOF laser seam tracker and the robot forward kinematics under an assumed external force. Special attention is paid…
This paper investigates both positional dependence in systems with friction and the influence an increase in temperature has on the friction behavior. The positional dependence is modeled with a Radial Basis Function network and the temperature dependence is modeled as a first order system with the…
Industrial robots are important when the degree of automation in industry is increased. To enable the use of robots also when the products change rapidly, the programming must be quick and easy to perform. One way to accomplish this is to use lead-through programming, i.e., the user manually guides…
This article presents a linear, iterative method to solve the eye-to-hand calibration problem between a wrist-mounted laser scanner and the tool flange of a robot. Measurement data are acquired from a set of non parallel planes where after the plane equations and desired rigid transformation matrix…