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

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2009

Autores

Malheiros, P (Autor) Outra; Paulo Gomes da Costa (Autor) FEUP; António Paulo Moreira (Autor) FEUP; Ferreira, M (Autor) Outra

Ata de Conferência Internacional

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

Páginas: 2205-2210

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

Porto, PORTUGAL, NOV 03-05, 2009

Indexação

ISI Web of Knowledge - 4 Citações

Scopus - 7 Citações

Classificação Científica

FOS: Ciências da engenharia e tecnologias > Engenharia electrotécnica, electrónica e informática

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6