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Publication in EndNote Format

%0 Report %@ 179 %A Agin, Gerald J. %T Real Time control of a Robot with a Mobile Camera %C 333 Ravenswood Ave, Menlo Park, CA 94025 %I AI Center, SRI International %D 1979 %X In this paper we describe and analyze a control system for a Unimate robot that derives its control information from a small, solidstate TV camera attached to its end-effector. Visual input may be in either of two modes: using conventional lighting or using projected patterns of light to give distance by triangulation. The number of degrees of freedom that may be controlled and their attainable accuracy are dependent on the mode of illumination, the geometric form of the image, the resolution of the camera, and the relationships between the camera, target, and projector (if used). A dynamic analysis of the system accounts for discrete delays in the control loop as well as the transfer function of the robot itself. The system has been demonstrated in several modes simulating manufacturing operations in static and moving coordinate systems. %O SRI Project 4391. Work supported by the NSF under Grant APR75-13074, and by sixteen industrial affiliates. Paper to be presented at the 9th International Symposium on Industrial Robots, Washington, DC, march 1979. %U http://www.ai.sri.com/pubs/files/2085.pdf

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