Combination of 2D and 3D vision systems into robotic cells for improved flexibility and performance

Author

Sansoni, Giovanna ; Bellandi, Paolo ; Docchio, Franco

Author_Institution

Dept. of Inf. Eng., Univ. of Brescia, Brescia, Italy

fYear

2011

fDate

28-29 June 2011

Firstpage

22

Lastpage

30

Abstract

In this paper we present the research activity carried out in the integration of 2D and 3D vision systems into robot cells, to improve their performance in typical pick and place operations. Two projects have been developed: the former is the combination of a 2D vision system based on two cameras with a two-robot cell. The latter consists of the integration of a laser slit - based optical head in a robot arm, for the 3D recognition of pose and orientation of objects, in view of bin picking applications. Both projects were committed by DENSO EUROPE B. V. with the aim of improving the robots performances in terms of flexibility and robustness of operation.

Keywords

cameras; dexterous manipulators; industrial robots; object recognition; pose estimation; robot vision; 2D vision systems; 3D pose recognition; 3D vision systems; bin picking; cameras; laser slit based optical head; object orientation; robot arm; robotic cells; robustness; Calibration; Cameras; Glass; Machine vision; Pneumatic systems; Robots; Three dimensional displays; 2D vision; 3D vision; calibration; robotics;

fLanguage

English

Publisher

ieee

Conference_Titel

Advances in Sensors and Interfaces (IWASI), 2011 4th IEEE International Workshop on

Conference_Location

Savelletri di Fasano

Print_ISBN

978-1-4577-0623-3

Electronic_ISBN

978-1-4577-0622-6

Type

conf

DOI

10.1109/IWASI.2011.6004679

Filename

6004679