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Non-contact measurement systems in robotics and telerobotics
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
1999 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

In robotics, and particularly in telerobotics, non-contact measurement methods are widely used. In this thesis, systems are investigated with the range camera as the main sensor component. It is desirable that remotely controlled robot systems have a high degree of autonomy. Two systems are described where a range camera is used to increase the autonomy of the system. The first is a system where a laser pointer tracks an edge of an object or a cable. In the second system a range camera is used to control the movement of a robot arm perpendicularly towards an object, in the intention of aligning a sensor probe to the surface of the object. A problem with range camera measurements is the occurrence of occlusion, i.e. the phenomenon when objects in the foreground hide the measured object. One example of such a system is when the range camera is used to measure irregular objects, as for example objects on a conveyor belt. In the thesis, we investigate a system where we use the range camera to estimate the size distribution of iron ore pellets on a conveyor belt while systematic errors in the measurements arise due to occlusion.

Place, publisher, year, edition, pages
Luleå: Luleå tekniska universitet, 1999. , p. 115
Series
Licentiate thesis / Luleå University of Technology, ISSN 1402-1757 ; 1999:59
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Industrial Electronics
Identifiers
URN: urn:nbn:se:ltu:diva-25743Local ID: aec53340-d7ea-11db-a1bf-000ea68e967bOAI: oai:DiVA.org:ltu-25743DiVA, id: diva2:998899
Note

Godkänd; 1999; 20070321 (ysko)

Available from: 2016-09-30 Created: 2016-09-30 Last updated: 2017-12-18Bibliographically approved

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Citation style
  • apa
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Output format
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