Geometric 3D model building using compliant motion sensor measurements
Peter Slaets
Broschiertes Buch

Geometric 3D model building using compliant motion sensor measurements

stochastic filtering and hardware architectures

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Still today, in industry, most industrial robot tasks are position-controlled and hence require a structured environment. This implies that both the robot's tools and the work pieces geometry are accurately known. Reduction of the programming effort and an increase in robot's autonomy can be achieved by measuring the positions and the contact forces during a (human) demonstration of the task. The analyzed sensor data are translated into a sequence of contact situations that can be executed by a robot in a slightly modified environment. This type of programming is called Programming by Demonstr...