제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Robot and vision system interface for material handling on conveyor belt system

컨베이어 벨트 시스템에서의 부품 처리를 위한 로보트와 시각 시스템의 접속

  • 박태형 (서울대학교 제어계측공학과) ;
  • 박충수 (서울대학교 제어계측공학과) ;
  • 이범희 (서울대학교 제어계측공학과) ;
  • 이상욱 (서울대학교 제어계측공학과) ;
  • 고명삼 (서울대학교 제어계측공학과)
  • Published : 1990.10.01
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Abstract

The robot system which can handle a stream of randomly positioned parts on a conveyor belt system, is developed. It is composed of a PUMA 560 robot, a conveyor belt system and a vision system. The performance of the overall system is mainly dependent upon the robot and vision system interface technique. A vision algorithm is developed to determine the position, orientation and type of the part. Calibration procedure and the vision-to-robot transformation are also proposed. Experimental results are then presented and discussed.

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