Predictive Vision Based Control of High Speed Industrial Robot PathsFriedrich
نویسندگان
چکیده
A predictive architecture is presented to react on sensor data in the case of high speed motion and low bandwidth sensor data. This concept is used for the vision based control of an industrial robot (KUKA) to track a contour at a speed of 1.6 m/s. The vision task can be performed very fast since only 2 rows of the image are analyzed. In this way an accuracy of 0.3 mm is reached in spite of uncertainties in the robot's kine-matic parameters. Vision and control work asynchron-uously so that even delay times are tolerable during sensing as long as the time-instant of the exposure is known.
منابع مشابه
Predictive Vision Based Control of High Speed Industrial Robot Paths
A predictive architecture is presented to react on sensor data in the case of high speed motion and low bandwidth sensor data. This concept is used for the vision based control of an industrial robot (KUKA) to track a contour at a speed of 1.6 m/s. The vision task can be performed very fast since only 2 rows of the image are analyzed. In this way an accuracy of 0.3 mm is reached in spite of unc...
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