Visual Servoing for Flexible Robotic Assembly Tasks, 10-9410Printer Friendly Version
Inclusive Dates: 07/01/03 - Current
Background - The objective of this project is to develop a visual servoing capability to enhance the performance of robotic assembly tasks. Visual servoing is defined as the use of machine vision to provide closed-loop control of a robot end-effector or mobile platform. Industrial robots typically operate "blind," having no sensory input regarding the positions of objects within their workspace. Subsequently, a large part of the cost for robotic installations is fixtures, tooling, and material-handling mechanisms. Visual servoing can provide both increased accuracy to a robotic manipulator and allow the robot to function in a less constrained environment.
Approach - The objectives of the proposed program are to:
Accomplishments - A visual servoing test bed, which includes an industrial robot with an open-architecture controller and a PC-based vision system has been integrated and configured. Images are captured by a CMOS camera providing full-image (640 x 480 pixel) frame rates up to 105 frames per second. This frame rate offers the potential for shorter servo loop timing than could be achieved from a conventional 30 Hz camera. An adjustable camera-mounting bracket for a robot end-effector was designed and installed (Figure 1). A calibration procedure, target, and software have been developed. Software demonstrating the execution of a simple visual servoing task has been developed and tested (Figure 2).