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Advances in Robotics Research Volume 1, Number 1, January 2014 , pages 81-99 DOI: https://doi.org/10.12989/arr.2014.1.1.081 |
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On low cost model-based monitoring of industrial robotic arms using standard machine vision |
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Aris Karagiannidis and George C. Vosniakos
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| Abstract | ||
| This paper contributes towards the development of a computer vision system for telemonitoring of industrial articulated robotic arms. The system aims to provide precision real time measurements of the joint angles by employing low cost cameras and visual markers on the body of the robot. To achieve this, a mathematical model that connects image features and joint angles was developed covering rotation of a single joint whose axis is parallel to the visual projection plane. The feature that is examined during image processing is the varying area of given circular target placed on the body of the robot, as registered by the camera during rotation of the arm. In order to distinguish between rotation directions four targets were used placed every 90 | ||
| Key Words | ||
| industrial robot; pose monitoring; industrial computer vision; area features | ||
| Address | ||
| Aris Karagiannidis and George C. Vosniakos: School of Mechanical Engineering, National Technical University of Athens, Heroon Polytechniou 9, 157 80 Athens, Greece | ||
