Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 31097
Vision Based Robot Experiment: Measurement of Path Related Characteristics

Authors: M. H. Korayem, K. Khoshhal, H. Aliakbarpour


In this paper, a vision based system has been used for controlling an industrial 3P Cartesian robot. The vision system will recognize the target and control the robot by obtaining images from environment and processing them. At the first stage, images from environment are changed to a grayscale mode then it can diverse and identify objects and noises by using a threshold objects which are stored in different frames and then the main object will be recognized. This will control the robot to achieve the target. A vision system can be an appropriate tool for measuring errors of a robot in a situation where the experimental test is conducted for a 3P robot. Finally, the international standard ANSI/RIA R15.05-2 is used for evaluating the path-related characteristics of the robot. To evaluate the performance of the proposed method experimental test is carried out.

Keywords: Vision, Robot, Experiment, standard

Digital Object Identifier (DOI):

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 973


[1] Jane Mulligan, "A Model-based Vision System for Manipulator & position sensing", Department of Computer Science University of British Columbia Vancouver.
[2] T. Nakamura, "Development of A cheap on-bourd Vision Mobile Robot for Robotic Soccer Research", Nara Institute of Science and Technology Dept.
[3] Ovidiu Chita, "A Real-time low-cost Vision Sensor for Robotic Bin Picking", Vision Systems laboratory Dublin University, 2001.
[4] B. Vikramadita, "Micropositioning using Active Vision Techniques", Chicago Illinios, 1995.
[5] Geregory Flandin, "Eye-in-hand/Eye-to-hand cooperation for Visual Servoing ", IEEE Press, 2000.
[6] N.J. Ferrier, "Visual control of Robot Reaching", NSF IRI-9703352, 1998.
[7] Andrea Bonarini, "An Omnidirectional Vision Sensor for fast tracking for mobile robots ", IEEE Press, 1999.
[8] Thomas M.Breuel, "Higher-order Statistics in Visual Object Recognition", IDIAP, 1993.
[9] A. Hajjan, "A new Real time Edge Linking Algorithm and its VLSI Implementation", Colorado State University.
[10] Kurt Konolige, "Small Vision Module"
[11] Rezai, "Designing and implementation 3P robot ", MSc Thesis, OTA University, 2001.
[12] Javan, "Designing software algorithms of industrial robot controllers", MSc Thesis, OTA University, 2001.
[13] Hadi Aliakbarpour, "simulating of vision system and presenting image processing algorithms and using that in robot", MSc Thesis, OTA University, 2002.
[14] American National Standard for Industrial Robots and Robot Systems Path-Related and Dynamic Performance Characteristics Evaluation. ANSI/RIA R15.05-2. Apr. 16 2000.