Abstract:Abstract-A method to recover general 2D a priori unknown contours using a kind of special optic sensor is described. Contour recovery is an important task for exploratory operations in unknown environments as well as for more practical applications such as grinding or deburring. It is not an easy task since the recovered contour (generally obtained using encoder data) is severely distorted due to errors in the kinematic model of the robot and to the non-linearities of its actuators. Some mathematical models ha… Show more
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