Three‐dimensional shape recognition method using ultrasonics for manipulator control system

Takeshi Tsujimura, Tetsuro Yabuta, Takenori Morimitsu

doi:10.1002/rob.4620030208

Three‐dimensional shape recognition method using ultrasonics for manipulator control system

DOI Web Site Web Site 被引用文献1件

書誌事項

公開日: 1986-06

権利情報

http://onlinelibrary.wiley.com/termsAndConditions#vor

DOI

10.1002/rob.4620030208

公開者: Wiley

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説明

<jats:title>Abstract</jats:title><jats:p>This article describes a three‐dimensional shape recognition method that employs an ultrasonic distance sensor mounted on a manipulator, and its application to a manipulator control system. The principle of the method is to reconstruct an object surface numerically using both distance and orientation informations of an object. The method makes it possible to control the manipulator, to set the sensor in any position and orientation employing freedom of the manipulator, and to measure the object. The method is available for manipulator control because it can precisely assess the distance from the manipulator to the object, as well as reconstruct the object shape. Experimental results show that the newly developed method make object shape recognition easy and inexpensive. Application experiment proved that the method is effective for manipulator work due to its provision of distance information.</jats:p>