Vision Based Robot Experiment: Measurement of Path Related Characteristics
In this paper, a vision based system has been used for
controlling an industrial 3P Cartesian robot. The vision system will
recognize the target and control the robot by obtaining images from
environment and processing them. At the first stage, images from
environment are changed to a grayscale mode then it can diverse and
identify objects and noises by using a threshold objects which are
stored in different frames and then the main object will be
recognized. This will control the robot to achieve the target. A vision
system can be an appropriate tool for measuring errors of a robot in a
situation where the experimental test is conducted for a 3P robot.
Finally, the international standard ANSI/RIA R15.05-2 is used for
evaluating the path-related characteristics of the robot. To evaluate
the performance of the proposed method experimental test is carried
out.
[1] Jane Mulligan, "A Model-based Vision System for Manipulator &
position sensing", Department of Computer Science University of
British Columbia Vancouver.
[2] T. Nakamura, "Development of A cheap on-bourd Vision Mobile Robot
for Robotic Soccer Research", Nara Institute of Science and Technology
Dept.
[3] Ovidiu Chita, "A Real-time low-cost Vision Sensor for Robotic Bin
Picking", Vision Systems laboratory Dublin University, 2001.
[4] B. Vikramadita, "Micropositioning using Active Vision Techniques",
Chicago Illinios, 1995.
[5] Geregory Flandin, "Eye-in-hand/Eye-to-hand cooperation for Visual
Servoing ", IEEE Press, 2000.
[6] N.J. Ferrier, "Visual control of Robot Reaching", NSF IRI-9703352,
1998.
[7] Andrea Bonarini, "An Omnidirectional Vision Sensor for fast tracking
for mobile robots ", IEEE Press, 1999.
[8] Thomas M.Breuel, "Higher-order Statistics in Visual Object
Recognition", IDIAP, 1993.
[9] A. Hajjan, "A new Real time Edge Linking Algorithm and its VLSI
Implementation", Colorado State University.
[10] Kurt Konolige, "Small Vision Module"
[11] Rezai, "Designing and implementation 3P robot ", MSc Thesis, OTA
University, 2001.
[12] Javan, "Designing software algorithms of industrial robot controllers",
MSc Thesis, OTA University, 2001.
[13] Hadi Aliakbarpour, "simulating of vision system and presenting image
processing algorithms and using that in robot", MSc Thesis, OTA
University, 2002.
[14] American National Standard for Industrial Robots and Robot Systems
Path-Related and Dynamic Performance Characteristics Evaluation.
ANSI/RIA R15.05-2. Apr. 16 2000.
[1] Jane Mulligan, "A Model-based Vision System for Manipulator &
position sensing", Department of Computer Science University of
British Columbia Vancouver.
[2] T. Nakamura, "Development of A cheap on-bourd Vision Mobile Robot
for Robotic Soccer Research", Nara Institute of Science and Technology
Dept.
[3] Ovidiu Chita, "A Real-time low-cost Vision Sensor for Robotic Bin
Picking", Vision Systems laboratory Dublin University, 2001.
[4] B. Vikramadita, "Micropositioning using Active Vision Techniques",
Chicago Illinios, 1995.
[5] Geregory Flandin, "Eye-in-hand/Eye-to-hand cooperation for Visual
Servoing ", IEEE Press, 2000.
[6] N.J. Ferrier, "Visual control of Robot Reaching", NSF IRI-9703352,
1998.
[7] Andrea Bonarini, "An Omnidirectional Vision Sensor for fast tracking
for mobile robots ", IEEE Press, 1999.
[8] Thomas M.Breuel, "Higher-order Statistics in Visual Object
Recognition", IDIAP, 1993.
[9] A. Hajjan, "A new Real time Edge Linking Algorithm and its VLSI
Implementation", Colorado State University.
[10] Kurt Konolige, "Small Vision Module"
[11] Rezai, "Designing and implementation 3P robot ", MSc Thesis, OTA
University, 2001.
[12] Javan, "Designing software algorithms of industrial robot controllers",
MSc Thesis, OTA University, 2001.
[13] Hadi Aliakbarpour, "simulating of vision system and presenting image
processing algorithms and using that in robot", MSc Thesis, OTA
University, 2002.
[14] American National Standard for Industrial Robots and Robot Systems
Path-Related and Dynamic Performance Characteristics Evaluation.
ANSI/RIA R15.05-2. Apr. 16 2000.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:54396", author = "M. H. Korayem and K. Khoshhal and H. Aliakbarpour", title = "Vision Based Robot Experiment: Measurement of Path Related Characteristics", abstract = "In this paper, a vision based system has been used for
controlling an industrial 3P Cartesian robot. The vision system will
recognize the target and control the robot by obtaining images from
environment and processing them. At the first stage, images from
environment are changed to a grayscale mode then it can diverse and
identify objects and noises by using a threshold objects which are
stored in different frames and then the main object will be
recognized. This will control the robot to achieve the target. A vision
system can be an appropriate tool for measuring errors of a robot in a
situation where the experimental test is conducted for a 3P robot.
Finally, the international standard ANSI/RIA R15.05-2 is used for
evaluating the path-related characteristics of the robot. To evaluate
the performance of the proposed method experimental test is carried
out.", keywords = "Robot, Vision, Experiment, Standard.", volume = "2", number = "9", pages = "1048-5", }