ALGORITHM FOR PICKING, ORIENTING AND PLACING AN OBJECT WITH A 6-AXIS ROBOT AND A 2D VISUAL INSPECTION CAMERA-Reference-Cited by-同舟云学术

ALGORITHM FOR PICKING, ORIENTING AND PLACING AN OBJECT WITH A 6-AXIS ROBOT AND A 2D VISUAL INSPECTION CAMERA

Published:2020-09-03 Issue:1 Volume:70 Page:
ISSN:1311-0829
Container-title:Proceedings of the Technical University of Sofia
language:en
Short-container-title:TUS

Author:

Kostov Boris,Hristov Vladimir

Abstract

With the development of visual inspection and artificial intelligence tech-nologies, robots are increasingly required to replace humans in more complex operations that require the robot to "see" and "think." For this reason, the present develop-ment proposes, synthesizes, and puts into operation an algorithm for taking a part with a specific marker from a 6-axis robot, presenting it to a 2D camera for visual inspection and its correct orientation based on information received from the camera and its placement. on another part with a pre-marked direction of the marker. An improvement of the orientation algorithm with an algorithm for compensation of the gripping error is proposed.

Publisher

Technical University of Sofia

Subject

Media Technology

Link

https://e-university.tu-sofia.bg/e-conf/files/169/paper_10.47978@TUS.2020.70.01.005.pdf

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