A LINE-BASED OBSTACLE AVOIDANCE TECHNIQUE FOR DEXTEROUS MANIPULATOR OPERATIONS

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dc.contributor.advisorCarignan, Craigen_US
dc.contributor.authorScott, Nicholasen_US
dc.contributor.departmentAerospace Engineeringen_US
dc.contributor.publisherDigital Repository at the University of Marylanden_US
dc.contributor.publisherUniversity of Maryland (College Park, Md.)en_US
dc.date.accessioned2007-09-28T15:01:27Z
dc.date.available2007-09-28T15:01:27Z
dc.date.issued2007-08-06en_US
dc.description.abstractBoth autonomous and teleoperated tasks with a dexterous manipulator often use cameras for external sensing. For teleoperated tasks, an array of cameras is typically used to provide the operator with multiple two-dimensional views of the manipulator workspace. For autonomous operations, cameras are used for visual servoing or to produce a map of the environment in the manipulator workspace. Nominal operations will likely produce manipulator configurations that occlude the line of sight from the camera to a target of interest. One possible approach is to treat the camera line of sight as a virtual obstacle to prevent camera occlusion. This approach is demonstrated on the Ranger dexterous manipulator for a variety of task configurations. Extension of this approach to non-redundant manipulators is also considered.en_US
dc.format.extent22132412 bytes
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/1903/7335
dc.language.isoen_US
dc.subject.pqcontrolledEngineering, Roboticsen_US
dc.titleA LINE-BASED OBSTACLE AVOIDANCE TECHNIQUE FOR DEXTEROUS MANIPULATOR OPERATIONSen_US
dc.typeThesisen_US

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