Development of a Machine Vision System for Automated Structural Assembly PDF Download
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Author: P. Daniel Sydow
Publisher:
ISBN:
Category : Human-machine systems
Languages : en
Pages : 36
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Book Description
Author: P. Daniel Sydow
Publisher:
ISBN:
Category : Human-machine systems
Languages : en
Pages : 36
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Book Description
Author: P. Daniel Sydow
Publisher:
ISBN:
Category : Building
Languages : en
Pages : 36
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Author: National Aeronautics and Space Administration (NASA)
Publisher: Createspace Independent Publishing Platform
ISBN: 9781722160647
Category :
Languages : en
Pages : 34
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Book Description
Research is being conducted at the LaRC to develop a telerobotic assembly system designed to construct large space truss structures. This research program was initiated within the past several years, and a ground-based test-bed was developed to evaluate and expand the state of the art. Test-bed operations currently use predetermined ('taught') points for truss structural assembly. Total dependence on the use of taught points for joint receptacle capture and strut installation is neither robust nor reliable enough for space operations. Therefore, a machine vision sensor guidance system is being developed to locate and guide the robot to a passive target mounted on the truss joint receptacle. The vision system hardware includes a miniature video camera, passive targets mounted on the joint receptacles, target illumination hardware, and an image processing system. Discrimination of the target from background clutter is accomplished through standard digital processing techniques. Once the target is identified, a pose estimation algorithm is invoked to determine the location, in three-dimensional space, of the target relative to the robots end-effector. Preliminary test results of the vision system in the Automated Structural Assembly Laboratory with a range of lighting and background conditions indicate that it is fully capable of successfully identifying joint receptacle targets throughout the required operational range. Controlled optical bench test results indicate that the system can also provide the pose estimation accuracy to define the target position. Sydow, P. Daniel and Cooper, Eric G. Langley Research Center RTOP 506-43-41-02...
Author:
Publisher:
ISBN:
Category : Aeronautics
Languages : en
Pages : 956
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Author:
Publisher:
ISBN:
Category : Aeronautics
Languages : en
Pages : 246
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Author:
Publisher:
ISBN:
Category : Aeronautics
Languages : en
Pages : 568
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Author:
Publisher:
ISBN:
Category :
Languages : en
Pages : 1726
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Book Description
Author: George F. Parma
Publisher:
ISBN:
Category : Joints (Engineering)
Languages : en
Pages : 36
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Author:
Publisher:
ISBN:
Category : Astronautics
Languages : en
Pages : 532
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Author: Sharon Monica Jones
Publisher:
ISBN:
Category : Aeronautics
Languages : en
Pages : 32
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Book Description
