Stable Sensorless Localization of 3-D Objects
文献类型：期刊论文
| 作者 | Liu, Chuankai1; Qiao, Hong1 ; Zhang, Bo2
|
| 刊名 | IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS
 |
| 出版日期 | 2011-11-01 |
| 卷号 | 41期号:6页码:923-941 |
| 关键词 | Localization of 3-D objects manipulation motion planning parting feeding sensorless stability |
| 英文摘要 | In general, localization is a very important step in the manufacturing process, which can be considered as a prior process of assembly, machining, transportation, etc. Localization can be achieved with or without sensors. Compared with localization with sensors, localization without sensors can be more reliable, cheaper, and can have lower requirements on the environment. For example, localization without sensors can be achieved in a dark environment. However, it is more restrictive to the condition of the system. Localization of 2-D objects without sensors has been deeply investigated. Some theoretical results on 3-D-object localization without sensors have been given. On the other hand, some work has been carried out that tries to find methods to reduce uncertainties in the 3-D orientation of a polyhedron (i.e., the orientation of the polyhedron in a 3-D space). However, to the best of our knowledge, no practical and effective methods have been proposed, so far, to localize a polyhedron from any initial 3-D orientation to a unique 3-D orientation without sensors. This paper aims to find conditions and strategies for 3-D objects to be rotated from an unknown initial stable state to a unique stable state without sensors. The main contributions of this paper are given as follows: 1) It is discovered and proved that there are two classes of 3-D objects that can be rotated into a unique state from an arbitrary initial state without sensory feedback. 2) For these two classes of objects, the practical strategies are presented, and one example for each class is given to show the validity of the strategy. 3) Based on the above results, the robotic system and localization operations are illustrated, and some experimental results are given. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Computer Science, Artificial Intelligence ; Computer Science, Cybernetics ; Computer Science, Interdisciplinary Applications |
| 研究领域[WOS] | Computer Science |
| 关键词[WOS] | POLYGONAL PARTS ; POLYHEDRAL PARTS ; MANIPULATION ; PLANE ; ROBOT |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000296019400012 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/3020]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_机器人应用与理论组 |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China 2.Chinese Acad Sci, Inst Appl Math, Acad Math Ad Syst Sci, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Liu, Chuankai,Qiao, Hong,Zhang, Bo. Stable Sensorless Localization of 3-D Objects[J]. IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS,2011,41(6):923-941. |
| APA | Liu, Chuankai,Qiao, Hong,&Zhang, Bo.(2011).Stable Sensorless Localization of 3-D Objects.IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS,41(6),923-941. |
| MLA | Liu, Chuankai,et al."Stable Sensorless Localization of 3-D Objects".IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS 41.6(2011):923-941. |
入库方式： OAI收割
来源：自动化研究所
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