Study on Grasping Motion of 8 DOF Robot Arm With Visual Servo System
نویسندگان
چکیده
This paper provides an algorithm to grasp a moving object on a belt conveyer by a robot arm with 8 DOF. A method of recognition and position measurement of the moving object is developed and built in the robot arm with a visual servo system which is consisted of two CCD cameras. To find the best grasping posture of the robot arm, the robot coordinate system and the camera coordinate system is integrated. Then calculation of the grasping motion of the robot arm can be processed with an adequate speed. We developed the 8 DOF robot arm which has speed and accuracy.
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