Precise industrial robot positioning and path-tracking over large surfaces using non-calibrated vision
This paper presents a methodology for precise robot positioning and path tracking, performed by industrial robots over large surfaces of arbitrary size, shape and orientation. The methodology is based on a vision-based, calibration-free robot control method known as camera-space manipulation. The path, de.ned and stored in a CAD .le, is later adapted to the curved, work-surface by using a mapping procedure. When applied to large surfaces, the precision of the positioning and path-tracking maneuvers depends on several factors like the resolution of the cameras per unit physical space and the mapping procedure, which may introduce distortion specially in the case of non-developable surfaces. In order to reduce the in.uence of camera-resolution, this paper presents two alternatives: the use of multiple cameras and the application of cameras mounted over non-expensive, sensorless pan/tilt units. In the case of the distortion produced by the mapping procedure, the paper discusses several options like a modi.ed geodesic mapping and virtual projection. The proposed techniques were tested multiple times over .at and deformed surfaces, by using a large work-envelope, industrial robot.
Camera-space manipulation industrial robot path-tracking
Emilio J. Gonz(a)lez-Galv(a)n C(e)sar A. Ch(a)vez Isela Bonilla Marco Mendoza Luis A. Raygoza Ambrocio Loredo-Flores Biao Zhang
CIEP,Facultad de Ingenier(i)a Universidad Aut(o)noma de San Luis Potos(i) Av. Manuel Nava 8. Zona Un Coordinaci(o)n Acad(e)mica Regional Regi(o)n Altiplano Universidad Aut(o)noma de San Luis Potos(i) Corporate Research Center of ABB Inc. Windsor,CT 06095,USA
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
5160-5166
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）