Abstract
The system covers the measurement of an object position with stereo vision, the task path interpolation by B-spline method and the transformation to joint trajectory. Several new ideas are proposed: the concept of 3-D sewing, a method for teaching a task path using a camera image, a method for generating smooth sewing curves including the orientation of the sewing needle and a method of joint trajectory generation using a generalized inverse of Jacobian for smooth following control with a manipulator taking into account the boundary limitations of a joint space. This paper describes the current status of implementation and the results of experiments and the simulation of the ideas.
| Original language | English |
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| Pages | 35-40 |
| Number of pages | 6 |
| Publication status | Published - 1988 |
| Externally published | Yes |
| Event | Proceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics - Minneapolis, MN, USA Duration: 18 Jul 1988 → 20 Jul 1988 |
Conference
| Conference | Proceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics |
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| City | Minneapolis, MN, USA |
| Period | 18/07/88 → 20/07/88 |