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CAD/CAM approaches have been used in the manufacturing industry for a long time, and their use in robotic systems is becoming more popular. One common element in these approaches is the use of geometric constraints to define relative object poses. Hence, approaches for solving these geometric constraints are critical to their performance. In this paper, we present an exact solver for geometric constraints...
In this paper, we introduce a novel robot programming paradigm. It focuses on reducing the required expertise in robotics to a level that allows shop floor workers to use robots in their application domain without the need of extensive training.
In this paper, we propose a framework for intuitive task-based programming of robots using geometric inter-relational constraints. The intended applications of this framework are robot programming interfaces that use semantically rich task descriptions, allow intuitive (re-)programming, and are suitable for non-expert users typically found in SMEs. A key concept in this work is the use of CAD semantics...
In this paper, we present an uncalibrated position-based fixed-camera Visual Servoing for robot manipulators, where the goal is to track the 3D position and orientation of the target. The stereo system with 2 USB cameras is uncalibrated with respect to the robot base frame and the transformation between them is estimated on-line while performing the task. Dynamic impedance control is designed to generate...
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