Object pose monitoring for multifinger grippers by laser scanning

Thomas Fischer; Heinz Woern

doi:10.1117/12.364247

21 September 1999 Object pose monitoring for multifinger grippers by laser scanning

Thomas Fischer, Heinz Woern

Proceedings Volume 3824, Optical Measurement Systems for Industrial Inspection; (1999) https://doi.org/10.1117/12.364247
Event: Industrial Lasers and Inspection (EUROPTO Series), 1999, Munich, Germany

Abstract

The human hand is a very complex grasping tool to handle objects of different size and shape. A lot of research work has been done to transfer these capabilities to artificial robot hands, called multifinger grippers. The major part of this work describes the controlling of multifinger grippers. Since there is no information about the object's pose available in real-time, the finger joint positions or the fingertip positions of the gripper are position feedback controlled. But the global goal is to handle an object. Therefore, it is more useful to control the object's pose itself. In this paper object pose monitoring by laser scanning is presented. With the help of laser scanning the object's pose is controlled in real-time. Some results of the object pose monitoring show this ability.

Citation Download Citation

Thomas Fischer and Heinz Woern "Object pose monitoring for multifinger grippers by laser scanning", Proc. SPIE 3824, Optical Measurement Systems for Industrial Inspection, (21 September 1999); https://doi.org/10.1117/12.364247

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available