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Vision-Based Robotic Path Following
KTH, School of Industrial Engineering and Management (ITM), Production Engineering.
KTH, School of Industrial Engineering and Management (ITM), Production Engineering. (Sustainable Manufacturing)ORCID iD: 0000-0001-8679-8049
2013 (English)In: International Journal of Mechanisms and Robotic Systems, Vol. 1, no 1, 95-111 p.Article in journal (Refereed) Published
Abstract [en]

Most robotic manufacturing applications nowadays require tedious and expensive pre–programming of the chosen robot, each time when a new task is introduced. In order to eliminate the tedious robot programming for better productivity, this research proposes an adaptive approach that allows a robot to follow any arbitrary robot path defined by an operator. A so–developed system was designed to monitor and control the path following operation locally or remotely through an established web–based architecture, without the need of extra programming. The objective of the research is achieved by integrating an image processing module with a robotic system. The real benefits of such a system are the ability to control and monitor the stepwise processing stages, as well as to automate the whole operation to a certain level of control defined in advance. In particular, this paper introduces a prototype that can be extended to various industrial applications, such as arc welding, laser cutting and water jet cutting, which require controlling the 2D or 3D path of a robot.

Place, publisher, year, edition, pages
2013. Vol. 1, no 1, 95-111 p.
Keyword [en]
robotic path following, image processing, robot vision, adaptive manufacturing, robot monitoring, robot control, arc welding, laser cutting, water jet cutting, welding robots, robot cutting
National Category
Mechanical Engineering
URN: urn:nbn:se:kth:diva-139489DOI: 10.1504/IJMRS.2013.051315OAI: diva2:687103
XPRES - Initiative for excellence in production research

QC 20140326

Available from: 2014-01-13 Created: 2014-01-13 Last updated: 2014-03-26Bibliographically approved

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