Abstract
The results of experiments in realtime tracking of a moving object using wrist mounted laser range finders are presented. The objective is to have the robot endeffector maintain a constant pose with respect to a flat object moving in three-dimensional space in the field of view of the range finders. Tracking is done with maximum linear and angular speeds of the target object being 25 cm/s and 0.5 rad/s, respectively. The software is designed to ensure that the robot has smooth motion, without any sharp discontinuities. A performance study of the tracking experiment is presented.
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Venkatesan, S., Archibald, C. Use of wrist mounted range profile scanners for real-time tracking. Machine Vis. Apps. 5, 1–16 (1992). https://doi.org/10.1007/BF01213526
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DOI: https://doi.org/10.1007/BF01213526