Tasks

The presented system has been successfully used in a number of applications, using a PUMA560 arm. Barrett hand mounted at the end of the arm was used for grasping. Two arm configurations have been considered: a static configuration where the based of the arm was fixed, and a mobile platform configuration where XR4000 Nomadic Technologies robot was used. In the former case, an stand-alone camera system was considered, while the second configuration used an eye-in-hand camera. One of the mobile robot functionalities is robust localization and navigation in an indoor environment where combination of ultra-sonic, laser and infrared based ranging is used [10]. This makes it possible to instruct the robot to, for example, move to the dinner table and grasp an object.