Teachless teach-repeat: Toward vision-based programming of industrial robots

Modern programming of industrial robots is often based on the teach-repeat paradigm: a human operator places the robot in many key positions, for teaching its task. Then the robot can repeat a path defined by these key positions. This paper proposes a vision-based approach for the automation of the...

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Bibliographic Details
Main Authors: Perrollaz, M., Khorbotly, S., Cool, A., Yoder, J.-D, Baumgartner, E.
Format: Conference Proceeding
Language:English
Subjects:
Cameras
Education
Mathematical model
Robot kinematics
Robot vision systems
Service robots
Online Access:Request full text
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Summary:Modern programming of industrial robots is often based on the teach-repeat paradigm: a human operator places the robot in many key positions, for teaching its task. Then the robot can repeat a path defined by these key positions. This paper proposes a vision-based approach for the automation of the teach stage. The approach relies on a constant auto-calibration of the system. Therefore, the only requirement is a precise geometrical description of the part to process. The realism of the approach is demonstrated through the emulation of a glue application process with an industrial robot. Results in terms of precision are very promising.
ISSN:1050-4729
2577-087X
DOI:10.1109/ICRA.2012.6224639