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 a three-dimensional (3D) cylindrical objects (or parts) in 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.
|Title of host publication||Robot Manipulation of 3D Cylindrical Parts with a Robot-Mounted 2D Vision Camera|
|Publisher||Computing Conference 2017|
|State||Published - Aug 8 2017|