Title :
An experimental setup for visual servoing applications on an industrial robotic cell
Author :
Lippiello, Vincenzo ; Siciliano, Bruno ; Villani, Luigi
Author_Institution :
Dipt. di Informatica e Sistemistica, Univ. degli Studi di Napoli
Abstract :
An experimental setup for visual servoing applications on an industrial robotic cell is presented in this paper. The setup is composed of two industrial robot manipulators equipped with pneumatic grippers, a vision system and a belt conveyor. The original industrial robot controllers have been replaced by a single PC with software running under a realtime variant of the Linux operative system. A vision-oriented software environment named VESPRO has been developed on a PC running under Windows NT operating system, which allows programming image processing and visual tracking tasks, using one or more cameras. Advanced user interfaces permit fast, safe and reliable prototyping of control schemes based on visual measurements both for the single robots and for the dual-arm robotic cell
Keywords :
Linux; computer vision; grippers; image motion analysis; industrial manipulators; Linux operative system; belt conveyor; experimental setup; industrial robot manipulators; industrial robotic cell; pneumatic grippers; programming image processing; vision system; visual servoing; visual tracking tasks; Application software; Belts; Computer industry; Electrical equipment industry; Grippers; Machine vision; Manipulators; Robot vision systems; Service robots; Visual servoing;
Conference_Titel :
Advanced Intelligent Mechatronics. Proceedings, 2005 IEEE/ASME International Conference on
Conference_Location :
Monterey, CA
Print_ISBN :
0-7803-9047-4
DOI :
10.1109/AIM.2005.1511212
