شماره ركورد كنفرانس :
4560
عنوان مقاله :
Experimental test for stereo vision system to determine end-effector position of manipulators
Author/Authors :
M. H Korayem Robotics Research Laboratory - Center of Excellence in Solid Mechanics and Dynamics - Department of Mechanical Engineering - Iran University of Science & Technology, Tehran , M Irani Robotics Research Laboratory - Center of Excellence in Solid Mechanics and Dynamics - Department of Mechanical Engineering - Iran University of Science & Technology, Tehran , A Hashemi Robotics Research Laboratory - Center of Excellence in Solid Mechanics and Dynamics - Department of Mechanical Engineering - Iran University of Science & Technology, Tehran
كليدواژه :
manipulators , end effector , positioning , stereo vision
عنوان كنفرانس :
The International Conference on Experimental Solid Mechanics and Dynamics ۲۰۱۲
چكيده لاتين :
This paper presents a vision approach based on stereo vision to determine position of robotic systems. A stereo vision test set up contains two parallel CMOS cameras is provided and USB port is used to transmit image data to the computer. Experimental tests are exerted for 6R mechanical manipulator where the end-effector moves on circular trajectory and Scout mobile robot to move a pre-defined optimal trajectory. The image processing algorithm, matching algorithm and triangulation calculations are optimized to decrease time of finding related pixels in right and left images. The results illustrate that the measurement error is less than 1 mm and sampling period equal to 0.2 sec. because of rapid image processing algorithm, proposed method can be used to detect end-effector in dynamic trajectories. This stereo vision set up can be applied easily as measuring unit in closed loop control systems.
