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A Robot Playing Scrabble Using Visual Feedback

Bengtsson, Johan LU ; Ahlstrand, Anders; Nilsson, Klas LU ; Robertsson, Anders LU ; Olsson, Magnus; Heyden, A. and Johansson, Rolf LU (2001) In Robot Control 2000: A Proceedings volume from the 6th IFAC Symposium, Vienna, Austria, 21 - 23 September 2000
Abstract
Today most industrial robot systems use dedicated and rather limited sensors, and available control systems provide limited support for feedback control. Aiming towards more autonomous robot systems, we want to improve flexibility. The game Scrabble is used as a test problem capturing these aspects. Our approach is to incorporate visual servoing and a conventional powerful off-line programming (OLP) system into the real-time control system, providing task specification and visual debugging. We use the OLP tool Envision from Deneb and an ABB robot with reconfigured control system, where the control system has an Open Robot Control architecture (ORC). The vision system is connected to a host computer and the camera is attached to the robot... (More)
Today most industrial robot systems use dedicated and rather limited sensors, and available control systems provide limited support for feedback control. Aiming towards more autonomous robot systems, we want to improve flexibility. The game Scrabble is used as a test problem capturing these aspects. Our approach is to incorporate visual servoing and a conventional powerful off-line programming (OLP) system into the real-time control system, providing task specification and visual debugging. We use the OLP tool Envision from Deneb and an ABB robot with reconfigured control system, where the control system has an Open Robot Control architecture (ORC). The vision system is connected to a host computer and the camera is attached to the robot gripper. By extending the control system, we have designed and implemented both the vision system and the application for the Scrabble game. Our system implementation shows that ORC constitutes a necessary support for incorporation of real-time visual feedback and that OLP may effectively be used with real-time feedback of sensor data. (Less)
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published
subject
keywords
Computer vision, Sensor fusion, Real-time systems, Kinematics, Robot vision
in
Robot Control 2000: A Proceedings volume from the 6th IFAC Symposium, Vienna, Austria, 21 - 23 September 2000
publisher
Elsevier
language
English
LU publication?
yes
id
c10fd58c-f6b5-471e-ae90-46161c9e8657 (old id 538068)
date added to LUP
2007-09-13 09:10:34
date last changed
2016-09-23 15:15:47
@inproceedings{c10fd58c-f6b5-471e-ae90-46161c9e8657,
  abstract     = {Today most industrial robot systems use dedicated and rather limited sensors, and available control systems provide limited support for feedback control. Aiming towards more autonomous robot systems, we want to improve flexibility. The game Scrabble is used as a test problem capturing these aspects. Our approach is to incorporate visual servoing and a conventional powerful off-line programming (OLP) system into the real-time control system, providing task specification and visual debugging. We use the OLP tool Envision from Deneb and an ABB robot with reconfigured control system, where the control system has an Open Robot Control architecture (ORC). The vision system is connected to a host computer and the camera is attached to the robot gripper. By extending the control system, we have designed and implemented both the vision system and the application for the Scrabble game. Our system implementation shows that ORC constitutes a necessary support for incorporation of real-time visual feedback and that OLP may effectively be used with real-time feedback of sensor data.},
  author       = {Bengtsson, Johan and Ahlstrand, Anders and Nilsson, Klas and Robertsson, Anders and Olsson, Magnus and Heyden, A. and Johansson, Rolf},
  booktitle    = {Robot Control 2000: A Proceedings volume from the 6th IFAC Symposium, Vienna, Austria, 21 - 23 September 2000},
  keyword      = {Computer vision,Sensor fusion,Real-time systems,Kinematics,Robot vision},
  language     = {eng},
  publisher    = {Elsevier},
  title        = {A Robot Playing Scrabble Using Visual Feedback},
  year         = {2001},
}