Determining Position and Orientation of ۶R Robot using Image Processing
Publish place: International Journal of Advanced Design and Manufacturing Technology، Vol: 11، Issue: 1
Publish Year: 1397
نوع سند: مقاله ژورنالی
زبان: English
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شناسه ملی سند علمی:
JR_ADMTL-11-1_011
تاریخ نمایه سازی: 13 اردیبهشت 1400
Abstract:
Stereo vision is one of the best image processing softwares to identify the environment of robot and allow its simultaneous process for providing three-dimensional measurement in an acceptable rate. On the one hand, vision measurement has simple structure and on the other hand it is independent from active machine or robot. Appropriate software and efficient programming could improve the performance with same hardware (cameras). In this paper, stereo vision robot localization is used and the main code was developed in open source computer vision (Open CV) environment. The mathematical relationship between the three-dimensional reference coordinates and the local coordinates for entire system are presented. The vision system is an independent unit consists of two high definition (HD) cameras, set in a rotary base. The application of this measurement provides the position and orientation of ۶R robot to verify its current measurement system. Stereo vision improved the speed of the image processing in comparison with image processing of MATLAB Toolbox that led to online monitoring of trajectory. Experimental tests of the proposed method express the capability of stereo vision in practical operations as a supervisory section.
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Authors
Amin Habibnejad Korayem
Iran University of Science and Technology (IUST)
Ensieh Niyavarani
Iran University of Science and Technology (IUST)
Saeed Rafee Nekoo
Iran University of Science and Technology (IUST)
Moharam Habibnejad
Iran University of Science and Technology (IUST)
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