Integrated visual servoing system to grasp industrial parts moving on conveyer by controlling 6DOF arm
Hisanao Nomura, Tomoki Naito · 2002
The paper describes an integrated visual servoing system able to track and grasp industrial parts moving on a conveyer by controlling a 6-DOF robot arm. Using a real-time image based visual servoing method, the fully-6-DOF robot arm is controlled by PC-based vision and robot controllers. The hybrid Kalman filter is incorporated into both controllers in order to track a moving object stably against visual data noise. A teaching method for grasping the moving objects is also proposed which leads to simplification of teaching tasks. Experimental results prove that the practical conveyer-tracking and grasping tasks in manufacturing can be realized with our integrated visual servoing system.