Vision Based Simulation and Experiment for Performance Tests of Robot
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The feature-based visual servoing approach has been used to control robot through vision. In order to find the position of the end effector by vision and through robot performance tests, computational kinematic approach has been used. The software carries out the duty of environment simulation and operation of an industrial robot. The disputes related to image capturing, image processing, target recognition, and how to control robot by vision system ability have been carried out in the simulation tests. The vision based program has been defined in such a way that it can be carried out by a real robot with the least changes.
In the experiment, 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. Finally, the issues of robot performance tests based on the two standards ISO 9283 and ANSI-RIA R15.05-2 have been accomplished through simulator program using vision system over the 3P robot for evaluating the path-related characteristics of the robot. To evaluate the performance of the proposed method experimental test is carried out.
KeywordsPerformance tests Vision robot Simulation Experiment
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