Visual end-effector position error compensation for planetary robotics: Research Articles

  • Authors:

  • Max Bajracharya;Matthew DiCicco;Paul Backes;Kevin Nickels

  • Affiliations:

  • Mobility and Manipulation Group 3473 Jet Propulsion Laboratory Pasadena, California 91109;Mobility and Manipulation Group 3473 Jet Propulsion Laboratory Pasadena, California 91109;Mobility and Manipulation Group 3473 Jet Propulsion Laboratory Pasadena, California 91109;Mobility and Manipulation Group 3473 Jet Propulsion Laboratory Pasadena, California 91109

  • Venue:
  • Journal of Field Robotics - Special Issue on Space Robotics, Part III
  • Year:
  • 2007

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Abstract

This paper describes a vision-guided manipulation algorithm that improves arm end-effector positioning to subpixel accuracy and meets the highly restrictive imaging and computational constraints of a planetary robotic flight system. Analytical, simulation-based, and experimental analyses of the algorithm's effectiveness and sensitivity to camera and arm model error is presented along with results on several prototype research systems and “ground-in-the-loop” technology experiments on the Mars Exploration Rover (MER) vehicles. A computationally efficient and robust subpixel end-effector fiducial detector that is instrumental to the algorithm's ability to achieve high accuracy is also described along with its validation results on MER data. © 2007 Wiley Periodicals, Inc.