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This paper proposed an autonomous robot motion planner for industrial robots with a focus on vision-based stevedoring applications. The planning algorithm can be divided into two stages. The first stage generates initial geometric paths in the Cartesian space: with the 3D model of the environment and the picking and placing pose of the robot's wrist obtained by visual system, the planner finds a collision-free...
In this paper, a real-time machine vision system is designed for an industrial robot to grasp from an assembly line a class of machine parts which are similar in the general shape but different in details. In order to get real-time performance, the system is implemented on an embedded image card with an FPGA (Field Programming Gate Array) accelerating the computation. The method can be divided into...
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