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This article develops a set space visual servoing method that is quiet different from state-of-the-art approaches. Our approach does not require complex image processing techniques for the extraction, matching and tracking of image features. Instead, it only requires a simple matching algorithm and builds visual errors in set space. Each error is mainly related to one degree of freedom of the camera;...
Bin picking has been a research topic for years because of the challenges in image processing, robot motion planning and tool system. However, much of the existing work is not applicable to most real world bin picking problems because they are too simplistic or not robust enough for industrial use. In this paper, we developed a robust random 3D bin picking system by integrating the vision system with...
Bin picking has been a research topic for years because of the challenges in image processing, robot motion planning and tool system. However, much of the existing work is not applicable to most real world bin picking problems because they are too simplistic or not robust enough for industrial use. In this paper, we developed a robust random 3D bin picking system by integrating the vision system with...
Robot teaching is necessary for the current industrial robot applications. Because work stations have to be stopped to perform teaching processes, the manufacturing efficiency is decreased. In this paper we propose to utilize an uncalibrated vision system mounted on a mobile robot (“Adult” robot) with learning capability to supervise a group of fixed robots (“Child” robots) to accomplish a robot teaching...
In industrial robot applications, to adapt the environmental changes the robot teaching process has to be performed frequently by operators. This process increases the operational cost and reduces the manufacturing efficiency. This paper proposes to use a smart robot(named “adult” robot) with advanced sensing and decision-making capabilities to teach “child” robots in the production line. A Markov...
In this paper, we propose and develop a small-scale research platform for intelligent transportation systems. Our platform has four main parts: an arena; an indoor localization system; automated radio controlled (RC) cars; and roadside monitoring facilities. First, to mimic the traffic environments we build an arena with a wooden floor, mock buildings and streets. Second, for the indoor localization...
The objective of this paper is to propose robust, three-step, and spatiotemporal structured light patterns for rapid 3D shape inspection system. To reduce the negative influence of inspected part texture and ambient light, the patterns are constructed by stripe boundary using monochromatic light. The stripe sequence is generated by the Euler Circuit of graph theory under the proposed constraints in...
This paper provides a description of a uniquely mounted industrial robot. The described configuration includes an IRB6620 industrial robot with a tool changer and multiple tools that are installed on a highly customized truck chassis. Industrial robots are typically anchored to a shop floor which would normally limit the operational range of industrial robotics and require that all parts and materials...
This paper describes an industrial robot joint offset calibration method called the virtual line-based single-point constraint approach. Previous methods such as using CMM, laser trackers or cameras are limited by the cost or the resolution. The proposed method relies mainly upon a laser pointer attached on the end-effector and single position-sensitive detector (PSD) arbitrarily located on the workcell...
Industrial robots used to perform assembly tasks are still a small portion of total robot sales each year. One of the main reasons is that it is difficult for conventional industrial robots to adjust to any sort of change. Therefore, more intelligent industrial robotic systems are attracting more and more attentions. This paper discusses an intelligent robotics system that performs an assembly process...
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