Abstract
Normal utilization of robot manipulators of anthropomorphic type does not reach beyond the reiteration of preprogrammed trajectories. While static robot programs may be sufficient for high volume manufacturers, they are not adequate in one-off or small-batch manufacturing, where programs must be adapted and modified in a dynamic way to fulfill the changing requirements in this type of production. Among the different techniques for robot programming, teaching is one of the fastest when changes have to be applied in complex trajectories. The main drawback of this technique is that a lot of time is lost defining the robot points very precisely. The objective of the work presented in this paper is to facilitate robot programming by combining teaching programming techniques and a 3D machine vision based accurate trajectory following.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Frigola, M., Poyatos, J., Casals, A., Amat, J.: Improving Robot Programming Flexibility through Physical Human - Robot Interaction. In: IROS Workshop on Robot Programming by Demonstration, Las Vegas (October 2003)
Ang, H., Lin, W., Lim, S.-Y.: A Walk-Through Programmed Robot for Welding in Shipyards. Industrial Robots 26(5) (1999)
Leeser, K., Donoghue, J., Townsend, W.: Computer-Assisted Teach and Play: Novel User-Friendly Robot Teach Mode Using Gravity Compensation and Backdrivability. In: Proceedings of S ME Fifth World Conference on Robotics Research, Cambridge, USA (1994)
Albu-Schaffer, A., Hirzinger, G.: Cartesian Impedance Control Techniques for Torque Controlled Light-Weight Robots. In: Proceedings of the 2002 IEEE International Conference on Robotics and Automation, Washington DC (May 2002)
Grunwald, G., Schreiber, G., Albu-Schaffer, A., Hirzinger, G.: Programming by touch: The different way of Human-Robot Interaction. IEEE Transactions on Industrial Electronics 50(4) (2003)
Asada, H., Izumi, S.: Direct Teaching and Automatic Program Generation for the Hybrid Control of Robot Manipulators. In: IEEE International Conference on Robotics and Automation, Raleigh (1987)
Bruyninckx, H., De Schutter, J.: Specification of force controlled actions in the task frame formalism — a synthesis. IEEE Trans. on Robotics and Automation 12(4), 581–589
Sato, D., Shitashimizu, T., Uchyama, M.: Task Teaching to a Force Controlled High Speed Parallel Robot. In: Proceedings of IEEE International Conference on Robotics & Automation, Taipei, Taiwan (2003)
Takahashi, T., Ogata, H.: Robotic assembly operation based on task-level teaching in virtual reality. In: Proceedings of IEEE International Conference on Robotics & Automation, Nice, France (1992)
Takahashi, T., Sakai, T.: Teaching robot´s movement in virtual reality. In: IEEE/RJS International Workshop on Intelligent Robots and Systems. Proceedings ‘Intelligence for Mechanical Systems’ IROS, Osaka, Japan (1991)
Kawasaki, H., Furukawa, T., Ueki, S., Mouri, T.: Virtual Robot Teaching Based on Motion Analysis and Hand Manipulability for Multi-fingered Robot. Journal of Advanced Mechanical Design, Systems, and Manufacturing 3(1), 1–12 (2009)
Cui, M., Dong, Z., Tian, Y.: Simulation and execution of event-driven robot teaching in a virtual environment. In: Fifth World Congress on Intelligent Control and Automation, WCICA, Hangzhou (2004)
Leopold, J., Gunther, H., Leopold, R.: New developments in fast 3D-surface quality control. Measurement 33(2), 179–187 (2003)
Picón, A., Bereciartua, M.A., Gutiérrez, J.A., Pérez, J.: Machine vision in quality control. Development of 3D robotized laser-scanner. Dyna. 84(9), 733–742 (2010)
Boehnke, K.E.: Hierarchical Object Localization for Robotic Bin Picking. Ph.D. dissertation. Faculty of Electronics and Telecommunications. Politehnica University of Timisoara (September 2008)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Tellaeche, A., Arana, R., Maurtua, I. (2012). Accurate Correction of Robot Trajectories Generated by Teaching Using 3D Vision by Laser Triangulation. In: Su, CY., Rakheja, S., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2012. Lecture Notes in Computer Science(), vol 7508. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33503-7_38
Download citation
DOI: https://doi.org/10.1007/978-3-642-33503-7_38
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33502-0
Online ISBN: 978-3-642-33503-7
eBook Packages: Computer ScienceComputer Science (R0)