A New Teaching Method for Industrial Robot Manipulators using RGB-D Vision

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  • 視覚を用いた産業用ロボットの新たな動作教示手法の開発

Abstract

<p>The large causes of spending time for teaching of industrial robots are installation position error and absolute positioning error of robots. We develop a new method to reduce influence of these errors. We use a pen to teach operation position by marking, which is sensed by a RGB-D camera mounted on tip of manipulator. With this RGB-D camera sensing, the robot can sense operation position and shape of target object and its environment in its own coordinate system. So the robot can reach to exact taught position without any additional information or procedures.</p>

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