Gregory P. Starr

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This paper presents an efficient method to grasp an unknown planar object (disk-like object) using a three-fingered Barrett band. First, active contour models are extracted from the images taken by Biclops, a dual camera directed vision system. The centroid of each active contour model is computed, employed in triangulation, and used as an estimate of a 3-D(More)
This paper describes a robot calibration approach called the virtual closed kinematic chain (ViCKi) method. Traditionally, calibration requires the measurement of the position and orientation of the end effector, and measurement resolution limits the accuracy of the robot model. In ViCKi, we attach a laser to the end effector to create a virtual 7th link.(More)
This paper describes an industrial robot calibration algorithm called the virtual closed kinematic chain method. Current robot kinematic calibration methods use measurements of position and orientation of the end effector. The accuracy of these measurements is limited by the resolution of the measuring equipment. In the proposed method, a laser pointer(More)
The topic of composing inputs for systems with mechanical flexibility has received attention for many years. Two popular methods are (1) shaping a nominal trajectory by convolution with an impulse sequence which itself cancels the flexibility, and (2) trajectory parameter optimization using structured basis functions, e.g. bang-coast-bang. However, each of(More)