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High-Speed Robot Motion Control under Visual Guidance
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| Author(s) |
Theodor Borangiu, Mitica Manu, Florin Daniel Anton, Silvia Tunaru, Anamaria Dogar |
| Abstract |
The paper describes a vision based method and
implementing procedure allowing for collision-free, on-thefly
grasping of objects travelling on conveyor belts. The
ensemble conveyor belt + actuator + sensor is configured as
a 3 ¡Ü m -axis Cartesian robot, leading to a problem of
cooperation between multiple robot manipulators subject to
the multitasking control of a computer. The collision-free
grasping of recognised and located objects is checked at run
time by projecting the fingerprints of the gripper onto the
image plane, and estimating whether they "cover" only
background pixels. A structured programming environment
is used for exemplifying the multi tasking control of
horizontally articulated (SCARA) robots tracking moving
objects for collision-free grasping, under guidance vision;
experimental results are also reported. |
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| Filename: | T5-510.pdf |
| Filesize: | 412.6 KB |
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| Type |
Members Only |
| Date |
Last modified 2007-03-13 by System |
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