Change search
ReferencesLink to record
Permanent link

Direct link
Non-contact measurement systems in robotics and telerobotics
Luleå tekniska universitet.
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. , 115 p.
Licentiate thesis / Luleå University of Technology, ISSN 1402-1757 ; 1999:59
Research subject
Industrial Electronics
URN: urn:nbn:se:ltu:diva-25743Local ID: aec53340-d7ea-11db-a1bf-000ea68e967bOAI: diva2:998899

Godkänd; 1999; 20070321 (ysko)

Available from: 2016-09-30 Created: 2016-09-30 Last updated: 2016-10-20Bibliographically approved

Open Access in DiVA

No full text

Search outside of DiVA

GoogleGoogle Scholar
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

ReferencesLink to record
Permanent link

Direct link