Advances in robotics research

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On low cost model-based monitoring of industrial robotic arms using standard machine vision

  • Karagiannidisa, Aris (School of Mechanical Engineering, National Technical University of Athens) ;
  • Vosniakos, George C. (School of Mechanical Engineering, National Technical University of Athens)
  • Received : 2013.09.03
  • Accepted : 2013.11.09
  • Published : 2014.01.25
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Abstract

This paper contributes towards the development of a computer vision system for telemonitoring of industrial articulated robotic arms. The system aims to provide precision real time measurements of the joint angles by employing low cost cameras and visual markers on the body of the robot. To achieve this, a mathematical model that connects image features and joint angles was developed covering rotation of a single joint whose axis is parallel to the visual projection plane. The feature that is examined during image processing is the varying area of given circular target placed on the body of the robot, as registered by the camera during rotation of the arm. In order to distinguish between rotation directions four targets were used placed every $90^{\circ}$ and observed by two cameras at suitable angular distances. The results were deemed acceptable considering camera cost and lighting conditions of the workspace. A computational error analysis explored how deviations from the ideal camera positions affect the measurements and led to appropriate correction. The method is deemed to be extensible to multiple joint motion of a known kinematic chain.

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