An efficient multi-camera, multi-target scheme for the three-dimensional control of robots using uncalibrated vision
An efficient multi-camera, multi-target scheme for the three-dimensional control of robots using uncalibrated vision
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DOI：
10.1016/s0736-5845(03)00048-6
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发表时间：
2003-10-01
影响因子：
10.4
通讯作者：
Cervantes-Sánchez, JJ
中科院分区：
文献类型：
--
作者：
González-Galván, EJ;Cruz-Ramírez, SR;Cervantes-Sánchez, JJ
本文提出了一种基于视觉的控制方法，可以执行精确的，三维（3D），定位和路径跟踪任务。通过在非结构化环境中进行焊接这一具有挑战性的制造任务的测试，该方法已被证明具有高度可靠性，始终能够实现1 mm的终端精度。这种高精度的一个关键限制因素是单位物理空间的相机空间分辨率。本文还提出了一种方法，通过使用多个视觉传感器的数据，在机器人的工作空间的一个大的区域，保持甚至增加这个比例在本文报道的实验中，激光是用来促进图像处理方面的基于视觉的控制策略。激光器将“激光光斑”投射到工件上，以收集关于工件几何形状的信息。以前的应用程序的控制方法仅限于考虑局部，工件的几何信息，接近该地区的机器人的工具将被放置。本文提出了一种方法来考虑所有可用的信息的工件的几何形状。该数据以紧凑的矩阵格式表示，该矩阵格式在算法中用于评估最佳机器人配置。所提出的策略的处理和存储的信息，来自各种视觉传感器在一个有效的方式。所提出的方法的一个重要目标是促进工业机器人在非结构化环境中的使用。一个图形用户界面（GUI）已经开发，简化了机器人/视觉系统的使用。通过该GUI，在机器人控制和焊接技术方面经验有限的用户可以成功执行焊接等复杂任务。(C)2003 Elsevier Ltd.保留所有权利。
A vision-based control methodology is presented in this paper that can perform accurate, three-dimensional (3D), positioning and path-tracking tasks. Tested with the challenging manufacturing task of welding in an unstructured environment, the proposed methodology has proven to be highly reliable, consistently achieving terminal precision of 1 mm. A key limiting factor for this high precision is camera-space resolution per unit physical space. This paper also presents a means of preserving and even increasing this ratio over a large region of the robot's workspace by using data from multiple vision sensors.In the experiments reported in this paper, a laser is used to facilitate the image processing aspect of the vision-based control strategy. The laser projects "laser spots" over the workpiece in order to gather information about the workpiece geometry. Previous applications of the control method were limited to considering only local, geometric information of the workpiece, close to the region where the robot's tool is going to be placed. This paper presents a methodology to consider all available information about the geometry of the workpiece. This data is represented in a compact matrix format that is used within the algorithm to evaluate an optimal robot configuration. The proposed strategy processes and stores the information that comes from various vision sensors in an efficient manner.An important goal of the proposed methodology is to facilitate the use of industrial robots in unstructured environments. A graphical-user-interface (GUI) has been developed that simplifies the use of the robot/vision system. With this GUI, complex tasks such as welding can be successfully performed by users with limited experience in the control of robots and welding techniques. (C) 2003 Elsevier Ltd. All rights reserved.