Demonstration of Multi-Sensor Integration in Industrial Manipulation (Poster)

摘要

This poster accompanies a video contribution to the IEEE International Conference on Robotics and Automation 2006. Multi-sensor integration is still a matter of research in many areas. In previous works of the authors scalable and modular hardware and software architectures for manipulation control were described in the open literature. A major aim was to create a system, which is open for any kind and any number of sensors while providing a unified programming interface. Manipulation primitives constitute such an interface that enables programmers to specify sensor-guided and sensor- guarded motion commands in an intuitive way. The hardware, the software, and this programming interface are shortly introduced. The complete system has been implemented as prototype for industrial use, i.e. all results are practical ones and not only simulation results. To highlight the potential for practical use, this poster depicts a highly sophisticated but concrete application: playing Jenga. A manipulator was equipped with two CCD cameras, a distance sensor, a 6D force/torque sensor, and a 6D acceleration sensor to explore a new field of manipulation.