KUKA robot control based Kinect image analysis

Author

Belhadj, Hassine ; Ben Hassen, Saber ; Kaaniche, Khaled ; Mekki, Hassen

Author_Institution

ENISO Univ. of Sousse, Sfax, Tunisia

fYear

2013

fDate

15-17 Dec. 2013

Firstpage

21

Lastpage

26

Abstract

In this work, we have investigated the processes required for visual extracting and the remote control of KUKA KR-125 industrial robot manipulator. For this purpose, the robot controller communicates with the external system via anEthernet cable IEEE 802.3. The exchanged data are transmitted thanks to TCP/IP Protocol. To do this, we performed a client/server application with all relevant motions control. Second, we set up a Kinect in the robotproximity for the detection of objects (recognition of form, determination of position etc...) and finally we applied it to a practical example: we have programmed the robot to be able to stack object thanks to the reliability of the visual processing.

Keywords

client-server systems; control engineering computing; industrial manipulators; motion control; object detection; Ethernet cable IEEE 802.3; KUKA KR-125; KUKA robot control; Kinect image analysis; TCP/IP Protocol; client-server application; industrial robot manipulator; motion control; object detection; robot proximity; Computers; IP networks; Robot kinematics; Servers; Service robots; Visualization; IEEE 802.3; KUKA; Kinect; TCP/IP; visual processing;

fLanguage

English

Publisher

ieee

Conference_Titel

Individual and Collective Behaviors in Robotics (ICBR), 2013 International Conference on

Conference_Location

Sousse

Type

conf

DOI

10.1109/ICBR.2013.6729264

Filename

6729264