Uncalibrated eye in hand visual servoing for fixtureless assembly automation

被引：0
|
作者：
Vyawahare, Vikrarn S. [1 ]
Afzulpurkar, Nitin V. [1 ]
机构：
[1] Asian Inst Technol, Bangkok 10501, Thailand
来源：
2006 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY, VOLS 1-6 | 2006年
关键词：
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
This research attempts to examine the eye in hand configuration for visual servoing as a means of adding flexibility to pick and place operations for an assembly work-cell. It is researched if a closed loop system using the newest real time image processing hardware can be made. State of the art anthromorphic robot arm with a spherical wrist (6 axis) from Kuka Germany and image processing with a high speed camera from DVT corp. is employed for real time feedback. The objects to be assembled were on a flat plane in any orientation as in the existing industrial setup. A new algorithm which employs 'error minimization in the image plane' without using camera calibration is developed and implemented to demonstrate satisfactory performance.
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页码：2512 / +
页数：2
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