- Library Home /
- Search Collections /
- Open Collections /
- Browse Collections /
- UBC Theses and Dissertations /
- A computational vision system for joint angle sensing
Open Collections
UBC Theses and Dissertations
UBC Theses and Dissertations
A computational vision system for joint angle sensing Mulligan, I. Jane
Abstract
The research described was aimed at developing passive vision techniques to perform kinematic calibration for a multi-link manipulator, in near real time. Working with a single image of the arm of a Caterpillar excavator, edges are extracted first, then the constrained nature of the problem allows filtering of edge elements to select only those potentially arising from the arm. A model based matching process is performed on this refined data to determine the desired joint angles quickly and efficiently. Methods of exploiting the parallel nature of these techniques are also described.
Item Metadata
Title |
A computational vision system for joint angle sensing
|
Creator | |
Publisher |
University of British Columbia
|
Date Issued |
1988
|
Description |
The research described was aimed at developing passive vision techniques to perform kinematic calibration for a multi-link manipulator, in near real time. Working with a single image of the arm of a Caterpillar excavator, edges are extracted first, then the constrained nature of the problem allows filtering of edge elements to select only those potentially arising from the arm. A model based matching process is performed on this refined data to determine the desired joint angles quickly and efficiently. Methods of exploiting the parallel nature of these techniques are also described.
|
Genre | |
Type | |
Language |
eng
|
Date Available |
2010-08-31
|
Provider |
Vancouver : University of British Columbia Library
|
Rights |
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.
|
DOI |
10.14288/1.0051948
|
URI | |
Degree | |
Program | |
Affiliation | |
Degree Grantor |
University of British Columbia
|
Campus | |
Scholarly Level |
Graduate
|
Aggregated Source Repository |
DSpace
|
Item Media
Item Citations and Data
Rights
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.