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Concrete pipes are used in a variety of areas for conducting media underground (e.g. wastewater, cooling water, etc.) or for transportation purposes. Regular cleaning and inspection is required to ensure the static integrity of the pipe and to insure against the problems associated with failure of the pipe. In this paper, the SVM-RS system for cleaning and inspecting large concrete pipes will be presented...
Flexible objects such as clothes are hard to be handled by robots. But the working conditions for laundry factories are severe because of dusts, heats and steams. To automate these factories, the robot system with 3-D Vision systems and a flexible hand are dispensable. To handling the flexible clothes, it is required to recognize the 3-D shape of flexible clothes. To handle the clothes, a robot hand...
Fusion of information from multiple sensors can greatly enhance the performance of human-machine interaction, especially in the intuitive robot programming. The methods aim to allow rapid teaching of robotic tasks in a safe and efficient manner. The techniques can reduce the setup time of a robotic system. This is crucial for SMEs (Small and Medium Enterprise) where the products in the manufacturing...
In this paper we present the results from our visual servoing system for a real industrial robot. In contrast to other visual servoing system in the literature, the one presented here, which was derived from [4], uses a quaternion representation of the rotation instead of the more common matrix representation. By doing so, the proposed system avoids potential singularities introduced by the rotational...
Industrial devices are increasingly adopting RTOSs or improved versions of general purpose OSs. This fact introduces new possibilities like wrapping the devices with open middleware technologies like CORBA. Thus, by using object oriented interfaces that should be provided by the vendors of the devices, heterogeneous industrial devices could be integrated in distributed applications. However, CORBA-like...
We propose a novel problem formulation for the solution of the nonlinear least squares appearing in the static calibration of the parameters of an industrial robot with rotational joints. A further contribution of the presented work is the use of an extended forward kinematic model incorporating both geometric and nongeometric parameters. These novelties facilitate the use of industrial robots as...
A markerless multiple-camera vision-based 3D human tracking method for industrial environments is presented. The method can track humans in the vicinity of moving robots without using skin color cues or articulated human models. It is robust to self-occlusions and to partial occlusions caused by the robot. Foreground pixels corresponding to humans are found by background subtraction. A convex polyhedron...
Superflexible robot programming reduces the profitable batch sizes of industrial robots. The paper presents a new way to determine the trajectory for welding robots based on the Intelligent Space concept. The system uses two cameras and edge detection with other image processing algorithms to find the welding path in the image. The three dimensional trajectory is obtained by stereo vision; afterwards...
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