A CAD Tool for Remote Calibration of Space Station Robotic Test Bed

  • Salvatore Illiano
  • Giovanni Iodice
  • Bruno Siciliano
Chapter

Abstract

This paper describes the evolution of a CAD programming tool for remote video calibration of the Internal Automation & Robotics Technology Test Bed (IARTTB) available in the WKR Section at ESTEC. First the correspondence between the CAD model of the workcell in the off-line programming system and the real world is created. Then the robot is remotely calibrated with respect to the two racks present in the workcell by using a video camera on the end effector. A software package with a user-friendly interface has been developed to carry out the calibration procedure in a systematic way.

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References

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    Z.S. Roth, B.W. Moring, B. Ravani, “An overview of robot calibration,”IEEE J. of Robotics and Automation, 1987.Google Scholar
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    D.C. Lowe, “Three-dimensional object recognition from single two-dimensional images,”Artificial Intelligence, 31, Elsevier Science Publishers, 1987.Google Scholar
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    G. Iodice, S. Illiano,Video Calibration of Internal A&B Technology Test Bed IARTTB, ESTEC Working Paper n. 1721, 1993.Google Scholar

Copyright information

© Springer Science+Business Media Dordrecht 1994

Authors and Affiliations

  • Salvatore Illiano
    • 1
  • Giovanni Iodice
    • 1
  • Bruno Siciliano
    • 1
  1. 1.Dipartimento di Informatica e SistemisticaUniversità degli Studi di Napoli Federico IINapoliItaly

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