Module 5
Module 5
Robot Vision:
To extract, characterize, and interpret objects present in an
image/photograph captured using a camera.
Vision System Components
A robot’s vision system consists of a number of essential components, which
include the camera that captures a picture, to the processing mechanism that
provides and communicates the result.
Lighting is very important to machine vision as it illuminates the part to be viewed
so that its features stand out allowing the camera to see clearly.
The lens captures the image and communicates it to the sensor in the form of
light.
The sensor in a machine vision camera translates this light into a digital image,
which is then relayed to the processor for analysis.
Vision processing employs algorithms that review the image and extricate the
required information, run the required inspection, and make a decision.
Finally, communication is accomplished by either a discrete I/O signal or data
transmitted over a serial connection to a device that is logging or using the
information.
A machine vision system often includes the
following elements:
Image Acquisition (generally from a camera
placed above the production line),
Image Pre-Processing (e.g. increasing the
contrast, motion de-blur, etc),
Feature Extraction (e.g. measuring a
distance, checking a screw is in place etc),
Decisions (i.e. is the part OK to a tolerance,
is a label in the correct position), and,
Control (e.g. give the result to a
Programmable Logic Controller (PLC) or robot
controller).
Steps of digital image processing
Image Capturing
Sampling
A/D – Digitizing
Frame Grabbing
Pre-processing
Thresholding
Edge detection
Object Identification
Robot Programming
Programming is the identification and specification of a series of basic
actions which, when executed in the specified order, achieve some
specific task or realize some specific process.
Robot Programming is the defining of desired motions so that the
robot may perform them without human intervention.
Review: Some Definitions
Pe
Pose: both the position of Pe in space, and
its orientation
It is not sufficient for Pe just to be defined as a
point, we also need to attach or (conceptually)
fix a coordinate system to it, so that we can
define both the position of Pe in space, and its
orientation (together they define the object
pose).
e
P
Pe
Base Frame: The position and
orientation of Pe must be defined
with respect to some global
frame of reference, some global
coordinate system. For this we
usually use a frame of reference
fixed to the base of the robot,
which should not move.
NOTE: The position and orientation
of Pe in the work space of the robot
are determined by the values of the
joint positions of the arm—q1, q2,
q3,etc.
Configuration: Any particular
position and orientation of Pe in
space, and so any particular set
of joint values, is called a
configuration of the robot arm.
Robot Programming Revisited
TEACH-IN PLAY-BACK
On-Line/Lead Through(Playback)
Advantage:
Easy
No special programming skills or training
Disadvantages:
not practical for large or heavy robots
High accuracy and straight-line movements are difficult to
achieve, as are any other kind of geometrically defined trajectory,
such as circular arcs, etc.
difficult to edit out unwanted operator moves
difficult to incorporate external sensor data
Synchronization with other machines or equipment in the work
cell is difficult
A large amount of memory is required
Teach-In
Task: transfer of appropriate programs in the robot controller
The robot is along certain trajectories through the two conducted manually with
the both the robot and its movement and other devices in the robot cell monitored
closely.
Teach-in Process:
Features:
- To enable long cable to a good view
- Emergency stop switch
- Enabling switch
- Selection of TCP (Tool Center Point) function
- Selection of the coordinate
- Range of motion mode
- Selection of the speed of movement
- Status Display
On-Line/Teach Box
Advantage:
Easy
No special programming skills or training
Can specify other conditions on robot movements (type of trajectory to
use – line, arc)
Disadvantages:
Potential dangerous (motors are on)
On-Line Programming
Requirements:
- Kinematic balance
- Low friction in the joints
- Very high flexibility of
movement
Advantages:
- Very easy programming
- No prior knowledge of the
operator necessary
Disadvantages:
Source: ABB
Source: Gorenje - Correction in difficult sections
of path
- Difficult change of velocity
Primarily for the coating or glue-robot
Programming Languages
23
Off-Line Programming
When?
Off-Line Programming:
The robot can work, while a new program is created.
Robot programs are independent of the singly or in total
produced in the production of industrial robots working.
OFF-LINE
Joint interpolation
Circular interpolation
The controller determines how far each joint must move to get first joint
It determines the time it will take to complete the move
For example,the move from point 1,1 to point 7,4 in grid which shown in
figure
then,joint 1must move six increment & joint 2 must move three
increment
Straight line interpolation
The robot controller computes straight line path between two points