Abstract This chapter presents a methodology for the accurate generation and tracking of closed trajectories over arbitrary, large surfaces of unknown geometry, using a robot whose control is based on the use of a non-calibrated vision system. This capability can be applied to relevant industrial robotic maneuvers, like the welding or cutting of commercially-available metal plates. The proposed technique is based on a calibration-free, vision-based robot control methodology referred to as camera-space manipulation. This is combined with a geodesic-mapping approach, with the purpose of generating and tracking a trajectory stored as a CAD model, over an arbitrarily curved surface, along a user-defined position and orientation. In the context of applications to large surfaces, the maneuver precision of the positioning and path-tracking tasks depend on several aspects like camera resolution and mapping procedure, which has the potential of introducing distortion, especially in non-developable surfaces. In terms of the mapping procedure, this chapter discusses two options, referred to as modified geodesic mapping and virtual-projection mapping. A measure used to diminish the distortion caused by the mapping procedure and a technique for achieving closure of a given closed-path, when this is tracked over large, non-developable surfaces, are presented herein. The performance of the proposed methodology was evaluated using an industrial robot with a large workspace, combined with structured lighting used to reduce the complexity of the image analysis process.
Optimal Generation of Closed Trajectories over Large, Arbitrary Surfaces Based on Non-calibrated Vision
Machine Vision and Navigation ; 321-345
2019-10-01
25 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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