Robust and Real-time Teaching of Industrial Robots for Mass Customisation Manufacturing Using Stereoscopic Vision

• Type: Article in International Conference Proceedings Book
• Date: 2009

Authors

Malheiros, P (Author) Other; Paulo Gomes da Costa (Author) FEUP; António Paulo Moreira (Author) FEUP; Ferreira, M (Author) Other

Conference proceedings International

Title: IECON: 2009 35TH ANNUAL CONFERENCE OF IEEE INDUSTRIAL ELECTRONICS, VOLS 1-6

Pages: 2205-2210

35th Annual Conference of the IEEE-Industrial-Electronics-Society (IECON 2009)

Porto, PORTUGAL, NOV 03-05, 2009

Indexing

ISI Web of Knowledge - 4 Citations

Scopus - 7 Citations

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

Other information

Authenticus ID: P-003-QFD

DOI: 10.1109/iecon.2009.5415270

Abstract (EN): In this paper a method to control and teach industrial robots in real-time by human demonstration is presented. It aims to decrease down-times for reconfigurations and programming costs, particularly in a mass customisation manufacturing scenario. This system uses high-intensity visual markers that make it sufficiently robust for industrial environments not requiring special lighting. An automated camera calibration method was implemented which enables any non-skilled user a quick and easy configuration of the system. The teaching of the robot is achieved by recording the detected points and replaying them to the manipulator, therefore this is a "teaching-by-showing" method. The final program that the robot is uploaded with is a smooth trajectory calculated using all the recorded points, which are analised and grouped into different motion segments according to position and speed.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6