Location and Vision Techniques to Control a KUKA KR6 R900 Sixx Robot Arm

Autor:	Eya Affes, Mohsen Ghribi, Azeddine Kaddouri, Yassine Bouslimani, Ramzi Mehrez, Ibrahim Kadri
Rok vydání:	2020
Předmět:	0508 media and communications Lidar Control theory Machine vision Computer science Interface (computing) 0502 economics and business 05 social sciences Real-time computing Control (management) 050801 communication & media studies 050211 marketing Robotic arm
Zdroj:	020 1st International Conference on Communications, Control Systems and Signal Processing (CCSSP).
DOI:	10.1109/ccssp49278.2020.9151573
Popis:	This paper presents a combination of several vision techniques to control a KUKA KR6 R900 sixx robot arm. This work aims to design a multi-object sorting application of parts with different dimensions and characteristics. VisionTech, a KUKA Software package, was installed into the compact KRC4 controller and applied as a 2D location tool. Off-line programming was used to integrate a LIDAR based localization system. The external programming environment is provided by the KUKA KLI interface. The vision system combined to the LIDAR detection provided an efficient location tool.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::be53468e88988987205be21bea720fd5 https://doi.org/10.1109/ccssp49278.2020.9151573 Zobrazit plný text záznamu