Representing Solids for a Real-Time Robot Sensory System
The goal of the sensory system is to supply sufficient information to the robot control system, which actually moves the robot, to accomplish a desired task. The sensory system constantly updates a model of the 3-D workspace to reflect reality. This model is decoupled from the sensory processing so that the control system can be given responses without having to wail for sensory processing. A real-time world model is presented which incorporates both CAD descriptions of known parts and information about each specific object in the workspace. In order to enhance its speed, the 3-D world model supports several representations. The world model predicts the 3-D features for the objects in the workspace of the robot which are used by other modules in the sensory system.
Representing Solids for a Real-Time Robot Sensory System, Proceedings of the Prolamat ''85 Conference, Paris, FR, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=820219
(Accessed March 5, 2024)