Robotic motion planning and manipulation in an uncalibrated environment

The authors analyze planning and control problems in "Robotic Manipulation" in an uncalibrated environment consisting of a PUMA 560 robotic manipulato r, a rotating turntable equipped with an encoder and a CCD camera based vis ion sensor fixed permanently on the ceiling. It is assumed that a part with a known shape but unknown orientation is placed on the turntable which is rotating with an unknown motion dynamics. Furthermore, the calibration para meters are a priori assumed to be unknown. The objective is to track the ro tating part with an a priori specified relative orientation. The task consi dered is of importance in various problems concerning industrial automation , such as part-feeding and tool-changing.