Commenced in January 2007
Paper Count: 30077
Controlling 6R Robot by Visionary System
Abstract:In the visual servoing systems, the data obtained by Visionary is used for controlling robots. In this project, at first the simulator which was proposed for simulating the performance of a 6R robot before, was examined in terms of software and test, and in the proposed simulator, existing defects were obviated. In the first version of simulation, the robot was directed toward the target object only in a Position-based method using two cameras in the environment. In the new version of the software, three cameras were used simultaneously. The camera which is installed as eye-inhand on the end-effector of the robot is used for visual servoing in a Feature-based method. The target object is recognized according to its characteristics and the robot is directed toward the object in compliance with an algorithm similar to the function of human-s eyes. Then, the function and accuracy of the operation of the robot are examined through Position-based visual servoing method using two cameras installed as eye-to-hand in the environment. Finally, the obtained results are tested under ANSI-RIA R15.05-2 standard.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1056763Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1067
 Asada and Slotain , Translated by Dr. Moharram Habibnezhad Korayem," Analyzing and control of Robot" , Published by Iran University of Science and Technology ,May 1997.(In Farsi)
 Aliakbarpour, Hadi," Vision Simulating and introducing an algorithm for Image Processing and using in the Robot" , Thesis for taking M. S., Science and Researches Branch of Islamic Azad University, 1999.
 Heidari, Fatemeh.S., "Simulation of Visual Servo Control and Performance Tests of the 6R Robot Using Position Based and Image Based Approach", Thesis for taking M. S., Iran University of Science and Technology , October 2006.
 Geregory Flandin, "Eye-in-hand/Eye-to-hand cooperation for Visual Servoing ", IEEE Press, 2000.
 J. T. Feddema, C .S. G Lee,O. R. Mitchell, "Weighted Selection of image Features for resolved Rate Visual feedback Control ",IEEE Transaction on Robotics and Automation, Vol. 7, No 1, pp. 31-47, 1991.
 Seth Hutchinson,Gregory Hanger, and Peter I. Croke,"A Tutorial on Visual Servo Control", pp.6-12, May 1996.
 Peter I. Croke, Malcom C. Good, "Dynamic Effects in Visual Closed Loop Systems",IEEE Trans. on Robotics and Automation., Automation, pp. 671-683, Oct 1996.
 S.Skaar,W.Brockman,and R.Hanson.Camera-Space Manipulation. Int. J. Robot. Res., 6(4) ,pp. 20.32,1987.
 H.Hashimoto,T.Kimoto, T.Ebin, "Manipulator Control with Image Based Visual Servoing ", In Proc. IEEE, Conf. Robotics and Automation , pp.2267-2272,1991.
 American National Standard for Industrial Robots and Robot Systems Path-Related and Dynamic Performance Characteristics Evaluation. ANSI/RIA R15.05-2. Apr. 16 2002.
 Nourbakhsh, Azamossadat ,"6R Robots; How to Guide and Test them by Vision?",Conf CSICC2008,Springer pp.870-875