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This paper presents a scheme for motion control of hand-eye system using fuzzy theory. Generally speaking, 3D calibration is necessary to control a robot based on visual information. However, the calibration is complicated. In addition, the calibration for hand-eye system is more difficult. In our research, we realize a system to produce robotic motion using 2D image data from two cameras without...
In this paper, we propose a simple and easy method for robot teaching. It is based on ??teaching-by-showing?? technique with a structured light approach. In this method, the first step of the teaching procedure is the camera and projector calibration. The second step is a demonstration of manipulation of an object by a human operator in front of the robot with random pattern projection. The third...
In this paper, we propose a new robotic manipulation: caging manipulation by robots and walls. Caging is a method to make an object inescapable from a closed region by rigid bodies. Previous studies use only robots for caging, while we use walls as well. First, we formulate 2D caging with the environment such as walls. Secondly, we derive the caging manipulability condition. The manipulability problem...
In this paper, the robustness of graspless manipulation (or nonprehensile manipulation) is investigated. We derive some new constraints for static frictional forces in graspless manipulation, which gives us more accurate evaluation of the robustness of graspless manipulation than previous studies. We also present a procedure to calculate a measure of the robustness based on linear programming. Numerical...
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