Title :
Constructing a Simple Visually-Guided Robotic Part-Grasping System with Off-the-Shelf Components
Author :
Delden, Sebastian
Author_Institution :
Div. of Math. & Comput. Sci., South Carolina Upstate Univ., Spartanburg, SC
Abstract :
A novel approach to grasping and recognizing parts in an industrial robotic work cell is presented in this paper. The centroid, orientation, and length of elongated parts lying on a flat work area are estimated by a sequence of simple algorithms. Off-the-shelf components and freely downloadable software APIs make this system inexpensive and easily implemented. The approach has been implemented and tested with a Staubli RX60 manipulator. Results and future research are presented
Keywords :
industrial robots; object-oriented methods; robot vision; industrial robotic work cell; off-the-shelf component; visually-guided robotic part-grasping; Cameras; Communication system control; Java; Machine vision; Manipulators; Robot kinematics; Robot vision systems; Service robots; Universal Serial Bus; Visual servoing;
Conference_Titel :
Tools with Artificial Intelligence, 2006. ICTAI '06. 18th IEEE International Conference on
Conference_Location :
Arlington, VA
Print_ISBN :
0-7695-2728-0
DOI :
10.1109/ICTAI.2006.48
