Robot Manipulation of 3D Cylindrical Objects with a Robot-Mounted 2D Vision Camera

Research output: Contribution to conferencePaperpeer-review

Abstract

Position measurements of objects (or parts) have always been one of the most important requirements in industrial robot applications. Among sensing technologies to objects machine vision have been promising solutions for enhanced robot intelligence. The purpose of this paper is to address common problems and solutions related to developing vision-guided industrial robot applications that use the two-dimensional (2D) vision data to manipulate three-dimensional (3D) cylindrical objects in a robot workcell. The discussions include the integration of robot reference frames and transformations, camera calibration and view positions, vision system and measurements, robot operations and programming. Results of a 2D vision-guided FAUNC robot project are used to demonstrate solutions of the method.
Original languageEnglish
StatePublished - Jul 18 2017
EventComputing Conference 2017 - London, UK
Duration: Jul 18 2017Jul 18 2017

Conference

ConferenceComputing Conference 2017
Period07/18/1707/18/17

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