Development of a teaching system for an industrial robot using stereo vision

Kazuya Ikezawa; Yasuo Konishi; Hiroyuki Ishigaki

doi:10.1117/12.294435

9 December 1997 Development of a teaching system for an industrial robot using stereo vision

Kazuya Ikezawa, Yasuo Konishi, Hiroyuki Ishigaki

Proceedings Volume 3203, Architectures, Networks, and Intelligent Systems for Manufacturing Integration; (1997) https://doi.org/10.1117/12.294435
Event: Intelligent Systems and Advanced Manufacturing, 1997, Pittsburgh, PA, United States

Abstract

The teaching and playback method is mainly a teaching technique for industrial robots. However, this technique takes time and effort in order to teach. In this study, a new teaching algorithm using stereo vision based on human demonstrations in front of two cameras is proposed. In the proposed teaching algorithm, a robot is controlled repetitively according to angles determined by the fuzzy sets theory until it reaches an instructed teaching point, which is relayed through cameras by an operator. The angles are recorded and used later in playback. The major advantage of this algorithm is that no calibrations are needed. This is because the fuzzy sets theory, which is able to express qualitatively the control commands to the robot, is used instead of conventional kinematic equations. Thus, a simple and easy teaching operation is realized with this teaching algorithm. Simulations and experiments have been performed on the proposed teaching system, and data from testing has confirmed the usefulness of our design.

Citation Download Citation

Kazuya Ikezawa, Yasuo Konishi, and Hiroyuki Ishigaki "Development of a teaching system for an industrial robot using stereo vision", Proc. SPIE 3203, Architectures, Networks, and Intelligent Systems for Manufacturing Integration, (9 December 1997); https://doi.org/10.1117/12.294435

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available