Weigl, Alexandra ; Seitz, Matthias (1994)
Vision Assisted Disassembly Using a Dexterous Hand-Arm-System: An Example and Experimental Results.
In: IFAC Proceedings Volumes, 27 (14)
doi: 10.1016/S1474-6670(17)47332-0
Artikel, Bibliographie
Dies ist die neueste Version dieses Eintrags.
Kurzbeschreibung (Abstract)
Future applications in automation of non-destructive disassembly processes - necessary and important for re-use of components - require highly sensorized and dexterous robot systems. The main elements of the presented system are a disassembly sequence planner using special elementary disassembly operations, a redundant hand-arm-system with fifteen degrees of freedom supplied by a six-axes robot and a three-fingered gripper, and a vision system used for offline grasp and motion planning as well as for online supervision. Besides a description of the overall system structure and explanation of the underlying ideas for special disassembly operations, the presentation of first results and experiences from disassembling some parts of a video camera recorder will be one of the centred points to be discussed.
| Typ des Eintrags: | Artikel |
|---|---|
| Erschienen: | 1994 |
| Autor(en): | Weigl, Alexandra ; Seitz, Matthias |
| Art des Eintrags: | Bibliographie |
| Titel: | Vision Assisted Disassembly Using a Dexterous Hand-Arm-System: An Example and Experimental Results |
| Sprache: | Englisch |
| Publikationsjahr: | September 1994 |
| Verlag: | IFAC - International Federation of Automatic Control |
| Titel der Zeitschrift, Zeitung oder Schriftenreihe: | IFAC Proceedings Volumes |
| Jahrgang/Volume einer Zeitschrift: | 27 |
| (Heft-)Nummer: | 14 |
| Veranstaltungsdatum: | 19.09.1994-21.09.1994 |
| DOI: | 10.1016/S1474-6670(17)47332-0 |
| Zugehörige Links: | |
| Kurzbeschreibung (Abstract): | Future applications in automation of non-destructive disassembly processes - necessary and important for re-use of components - require highly sensorized and dexterous robot systems. The main elements of the presented system are a disassembly sequence planner using special elementary disassembly operations, a redundant hand-arm-system with fifteen degrees of freedom supplied by a six-axes robot and a three-fingered gripper, and a vision system used for offline grasp and motion planning as well as for online supervision. Besides a description of the overall system structure and explanation of the underlying ideas for special disassembly operations, the presentation of first results and experiences from disassembling some parts of a video camera recorder will be one of the centred points to be discussed. |
| Freie Schlagworte: | hand-arm-eye system, grasp planning, hand-arm-coordination, disassembly, vision |
| Zusätzliche Informationen: | Zugl. Konferenzveröffentlichung: Fourth IFAC Symposium on Robot Control (SY.RO.CO. '94), 19.-21.09.1994, Capri, Italy |
| Fachbereich(e)/-gebiet(e): | 18 Fachbereich Elektrotechnik und Informationstechnik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik > Regelungsmethoden und Robotik (ab 01.08.2022 umbenannt in Regelungsmethoden und Intelligente Systeme) |
| Hinterlegungsdatum: | 08 Okt 2010 12:42 |
| Letzte Änderung: | 01 Aug 2024 08:03 |
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Verfügbare Versionen dieses Eintrags
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Vision assisted disassembly using a dexterous hand-arm-system: An example and experimental results. (deposited 10 Mär 2023 10:15)
- Vision Assisted Disassembly Using a Dexterous Hand-Arm-System: An Example and Experimental Results. (deposited 08 Okt 2010 12:42) [Gegenwärtig angezeigt]
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