Calibrated virtual reality supported by stereo vision in intelligent robot control system

More and more robot control systems require intelligent extensions such as vision or virtual reality (VR) system in order to be capable of easy and flexible interaction with the environment or humans. This paper describes the stereo vision, virtual reality and off-line programming part of the intelligent control system of the Puma 560 robot and the dextrous hand developed at the Technical University of Budapest. With the use of the detailed graphic models of the VR system, efficient off-line robot programming and simulation of the contact forces between the hand and the grasped object is available. A simple robot programming language, which was written specifically for this robot-hand system, is introduced.