An Interactive 3D Sensor System and its Programming for Target Localizing in Robotics Applications

Indoor positioning with laser scanned models in the metal industry

“…The idea of external measurement device based interaction in robot programming is not new (Halme, Heikkilä, Torvikoski 1987;Hasegawa 1982;Manninen 1984;Pieskä et al 1988), but in the 1980s there was lack of feasible measurement devices, lack of computer power and industrial robot control systems were at that time not open enough for external programming. VTT has also recently been developing a method based on an interactive 3D sensor system for robotic applications (Heikkilä, Ahola, Viljamaa, Järviluoma 2010). In the European SME Robot project, a digital pen was developed to be used as a robot programming device (Pires, Godinho, Nilsson, Haage, & Meyer 2007).…”

Programming and control for skill-based robots

“…Here the equations for fitting planar surfaces are presented and equations for fitting other surface types have been presented in [14]. The rotation correction ∆R is computed as a product of rotation matrices…”

“…The feasible values for target model parameters depend on the dynamics of the robot, stiffness of the environment and the characteristics of the contact task. Examples of derived impedance parameters for two target systems are [ A detailed description of designing robust impedance controller for the industrial robot arm is given in [14] and an analysis of the impedance controller's capability to fol-low inclined and curved surfaces while keeping the contact force in desired limits is given in [15].…”