Video based control of a 6 degrees-of-freedom serial manipulator

Author

Marcu, C. ; Herle, S. ; Tamas, L. ; Lazea, Gh

Author_Institution

Tech. Univ. of Cluj-Napoca, Cluj-Napoca, Romania

fYear

2012

fDate

24-27 May 2012

Firstpage

417

Lastpage

421

Abstract

This paper presents a video based control system for a Fanuc M-6iB/2HS articulated robot. The system uses a CMUCam3 video camera connected to PC. The industrial robot is controlled via the TCP/IP protocol using a custom simulation software created in previous researches for the industrial robot. The simulation software implements additional classes designed to control and monitor the video camera. The paper presents in detail the calibration and testing stages. The system is capable to detect cylindrical objects of any stored color and is able to determine their position in the working space of the robot.

Keywords

calibration; computerised monitoring; image colour analysis; industrial manipulators; position control; robot vision; transport protocols; video cameras; video signal processing; 6-degrees-of-freedom serial manipulator; CMUCam3 video camera; Fanuc M-6iB/2HS articulated robot; PC; TCP/IP protocol; camera calibration; camera testing; color tracking; cylindrical object detection; industrial robot; position determination; simulation software customisation; video camera control; video camera monitoring; video-based control system; working space; Cameras; Image color analysis; Robot kinematics; Robot vision systems; Service robots; Software; 3D graphics; Qt programming; color tracking; robot control; video processing;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation Quality and Testing Robotics (AQTR), 2012 IEEE International Conference on

Conference_Location

Cluj-Napoca

Print_ISBN

978-1-4673-0701-7

Type

conf

DOI

10.1109/AQTR.2012.6237746

Filename

6237746