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A line-based obstacle avoidance tech...

Scott, Nicholas Anthony.

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A line-based obstacle avoidance technique for dexterous manipulator operations.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	A line-based obstacle avoidance technique for dexterous manipulator operations./
作者:	Scott, Nicholas Anthony.
面頁冊數:	152 p.
附註:	Adviser: Craig Carignan.
Contained By:	Masters Abstracts International46-02.
標題:	Engineering, Aerospace. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=1446181
ISBN:	9780549161141

A line-based obstacle avoidance technique for dexterous manipulator operations.
Scott, Nicholas Anthony.

A line-based obstacle avoidance technique for dexterous manipulator operations. - 152 p.

Adviser: Craig Carignan.

Thesis (M.S.)--University of Maryland, College Park, 2007.

Both autonomous and teleoperated tasks with a dexterous manipulator often use cameras for external sensing. For teleoperated tasks, an array of cameras is typically used to provide the operator with multiple two-dimensional views of the manipulator workspace. For autonomous operations, cameras are used for visual servoing or to produce a map of the environment in the manipulator workspace. Nominal operations will likely produce manipulator configurations that occlude the line of sight from the camera to a target of interest. One possible approach is to treat the camera line of sight as a virtual obstacle to prevent camera occlusion. This approach is demonstrated on the Ranger dexterous manipulator for a variety of task configurations. Extension of this approach to non-redundant manipulators is also considered.

ISBN: 9780549161141Subjects--Topical Terms:

1018395
Engineering, Aerospace.

A line-based obstacle avoidance technique for dexterous manipulator operations.
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