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A Robot Playing Scrabble Using Visual Feedback

Bengtsson, Johan LU ; Ahlstrand, Anders ; Nilsson, Klas LU ; Olsson, Magnus ; Robertsson, Anders LU ; Heyden, Anders LU orcid and Johansson, Rolf LU orcid (2000) In IFAC Proceedings Volumes 33(27). p.551-556
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 prograrnrning (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 prograrnrning (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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author
; ; ; ; ; and
organization
publishing date
type
Contribution to journal
publication status
published
subject
in
IFAC Proceedings Volumes
volume
33
issue
27
pages
6 pages
publisher
Elsevier
DOI
10.1016/S1474-6670(17)37988-0
project
Lund Research Programme in Autonomous Robotics, 1998-2001
language
English
LU publication?
yes
id
9760d805-cd16-491c-a338-15507c2324e6
date added to LUP
2022-06-21 10:25:09
date last changed
2022-09-08 09:21:25
@article{9760d805-cd16-491c-a338-15507c2324e6,
  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 prograrnrning (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 Olsson, Magnus and Robertsson, Anders and Heyden, Anders and Johansson, Rolf}},
  language     = {{eng}},
  number       = {{27}},
  pages        = {{551--556}},
  publisher    = {{Elsevier}},
  series       = {{IFAC Proceedings Volumes}},
  title        = {{A Robot Playing Scrabble Using Visual Feedback}},
  url          = {{http://dx.doi.org/10.1016/S1474-6670(17)37988-0}},
  doi          = {{10.1016/S1474-6670(17)37988-0}},
  volume       = {{33}},
  year         = {{2000}},
}