ALGORITHM FOR PICKING, ORIENTING AND PLACING AN OBJECT WITH A 6-AXIS ROBOT AND A 2D VISUAL INSPECTION CAMERA
Boris Kostov, Vladimir Dimitrov Hristov · Proceedings of the Technical University of Sofia · 2020
With the development of visual inspection and artificial intelligence tech-nologies, robots are increasingly required to replace humans in more complex operations that require the robot to "see" and "think." For this reason, the present develop-ment proposes, synthesizes, and puts into operation an algorithm for taking a part with a specific marker from a 6-axis robot, presenting it to a 2D camera for visual inspection and its correct orientation based on information received from the camera and its placement. on another part with a pre-marked direction of the marker. An improvement of the orientation algorithm with an algorithm for compensation of the gripping error is proposed.