Robot Vision Application for Overlapped Work Pieces

Abstract:

An automated robot vision application for work piece manipulation is described. The purpose is to pick up work pieces like bearings from a pile and store them in a specific location. The necessary image processing algorithms developed for this application and the camera calibration process are realized by using Matlab software. Based on these algorithms the operation for detecting, identifying, sorting and manipulating the bearings is realized. Also the mathematical model for determining the position and orientation of the bearing with respect to the world reference system attached to the robot’s base is presented.

• Periodical: Applied Mechanics and Materials (Volume 657)
• Pages: 849-853
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.657.849
• Online since: October 2014
• Authors: Cristian Pop*, Arjana Davidescu, Sanda Margareta Grigorescu
• Keywords: Image Processing, Object Manipulation, Object Recognition, Robot Vision

References

[1] C. Powell, FANUC Robotics Industrial Robots and Robotic Automated Systems, 2009, available at http: /www. fanuc-robotics. com, accessed 15. 05. (2012).

[2] Learn More about Industrial Robots, available at http: /globalspec. com, accessed 17. 05. (2012).

[3] S. Prehn, The evolution of industrial robots. Machine Design (2011), available at http: / machinedsign. com, accessed 17. 05. (2012).

[4] G. S. Hedge, A Texbook on Industrial Robotics, Laxmi Publications, (2006).

[5] G. Taylor, L. Kleeman, Visual Perception and Robotic Manipulation: 3D Object Recognition, Tracking and Hand-Eye Coordination. Springer, Verlag Berlin Heidelberg, (2006).

[6] P. Corke Robotics, Vision and Control: Fundamental Algorithms in MATLAB. Springer, Verlag Berlin Heidelberg, (2011).

[7] N. Herakovic, Robot Vision in Industrial Assembly and Quality Control Processes. Robot Vision. Ales Ude (Eds. ), InTech, 2010, pp.501-534.

DOI: 10.5772/9285

[8] C.R. Hema, M.P. Paulraj, R. Nagarajan & Y. Sazaly, Segmentation and Location of Bin Objects International Journal of Advanced Robotic Systems, 4/1 (2007) 57– 62.

DOI: 10.5772/5708

[9] S.J. Huang, J.P. Tsai, Robots for automatic assembly system for random operating condition. International Journal of Advanced Manufacturing Technology, 27 (2005) 334–341.

[10] M. Butman, Object Detection and Recognition, Bar Ilan University (2008).

[11] S. Mana, H. Marcelo, 3D Vision-Based Control on an Industrial Robot. Proceedings of the IASTED International Conference on Robotics and Applications, 19-22 (2001) 152–157.

[12] J. Pauli, Learning-Based Robot Vision: Principles and Applications. Springer (2001).

[13] C. Pop, S.M. Grigorescu, A. Davidescu, Robot Vision Application for Bearings Identification and Sorting. Applied Mechanics and Materials, Mechanisms, Mechanical Transmissions and Robotics, 162 (2012) 523–530.

DOI: 10.4028/www.scientific.net/amm.162.523

[14] T. Heyer, S.M. Grigorescu, A. Gräser, Camera Calibration for Reliable Object Manipulation in Care-Providing Robot FRIEND. Proceedings of the Joint 41th International Symposium on Robotics and 6th German Conference on Robotics, Munich, Germany, 2010, pp.446-451.