A method for the registration of a known cad model into the workspace frame of a robot

Aristos, D; Tzafestas, S

dc.contributor.author	Aristos, D	en
dc.contributor.author	Tzafestas, S	en
dc.date.accessioned	2014-03-01T02:46:37Z
dc.date.available	2014-03-01T02:46:37Z
dc.date.issued	2010	en
dc.identifier.issn	0218-2130	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/32750
dc.subject	3D reconstruction	en
dc.subject	Camera calibration	en
dc.subject	hand/eye calibration	en
dc.subject	iterative closest-point algorithm	en
dc.subject	model matching	en
dc.subject.classification	Computer Science, Artificial Intelligence	en
dc.subject.classification	Computer Science, Interdisciplinary Applications	en
dc.subject.other	3-d modeling	en
dc.subject.other	3D reconstruction	en
dc.subject.other	Apriori	en
dc.subject.other	CAD data	en
dc.subject.other	CAD models	en
dc.subject.other	Camera calibration	en
dc.subject.other	Hand/eye calibration	en
dc.subject.other	Online registration	en
dc.subject.other	Point algorithms	en
dc.subject.other	Rigid body	en
dc.subject.other	Rigid objects	en
dc.subject.other	Robot arms	en
dc.subject.other	Robot kinematics	en
dc.subject.other	Robot's workspace	en
dc.subject.other	Robotic applications	en
dc.subject.other	Calibration	en
dc.subject.other	Cameras	en
dc.subject.other	Computer aided design	en
dc.subject.other	Image reconstruction	en
dc.subject.other	Mathematical models	en
dc.subject.other	Robots	en
dc.subject.other	Three dimensional computer graphics	en
dc.subject.other	Three dimensional	en
dc.title	A method for the registration of a known cad model into the workspace frame of a robot	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1142/S0218213010000194	en
heal.identifier.secondary	http://dx.doi.org/10.1142/S0218213010000194	en
heal.language	English	en
heal.publicationDate	2010	en
heal.abstract	In many robotic applications it is required to manipulate a specific rigid object whose CAD model is known a priori, but its position and orientation in space are unknown. This category of tasks includes piercing, painting or iron welding on some specific points of the rigid object's surface. For this kind of tasks to become feasible the CAD data of the rigid object should be registered into the robot's workspace frame, so that the robot arm becomes aware of the position and orientation of the rigid body with reference to its own flange or base coordinate frame. In order to achieve this goal several techniques from the fields of image processing, 3D modeling and robot kinematics should be combined. This paper provides a convenient combination of such methods that can be used for the successful on-line registration of a rigid object's CAD data to the robot's workspace frame. © 2010 World Scientific Publishing Company.	en
heal.publisher	WORLD SCIENTIFIC PUBL CO PTE LTD	en
heal.journalName	International Journal on Artificial Intelligence Tools	en
dc.identifier.doi	10.1142/S0218213010000194	en
dc.identifier.isi	ISI:000279431700005	en
dc.identifier.volume	19	en
dc.identifier.issue	3	en
dc.identifier.spage	281	en
dc.identifier.epage	304	en