By Topic

Predictive robotic contour following using laser-camera-triangulation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
Koch, H. ; Fac. of Electr. Eng. & Inf. Technol., Univ. of Appl. Sci., Darmstadt, Germany ; Konig, A. ; Kleinmann, K. ; Weigl-Seitz, A.
more authors

In robotic contour following tasks such as sewing, grinding or applying adhesives, the robot moves a tool along a desired path on a workpiece. In order to compensate inaccuracies of the path definition a vision system can be used to guide the robot during task execution. This paper presents an algorithm to adjust the position and orientation of the tool by predictive vision-based control that compensates system delays caused by the robot dynamics and the vision sensor. Our system includes feature validation for suppressing optical disturbances; tool alignment with minimum angular tracking error along unknown contours; and restricting the tool velocity online depending on the applicable angular velocities. Our experimental setup uses an industrial laser-camera-triangulation sensor providing taught features in 3D such as a visible edge along the surface of the workpiece. The paper includes experimental results of robotic contour following using a wavy compliant surface to validate the approach.

Published in:

Advanced Intelligent Mechatronics (AIM), 2011 IEEE/ASME International Conference on

Date of Conference:

3-7 July 2011