INDUSRIAL Robot-vision

Seminar By - Harshal Gosavi.E&TC

VIIT , Pune

Content Robotics in General

Industrial Robotics

Medical Robotics

What can Computer Vision do for Robotics?

Vision Sensors

Issues / Problems

What is a robot?

"A reprogrammable, multifunctional manipulator

designed to move material, parts, tools, or specialized

devices through various programmed motions for the

performance of a variety of tasks"

Robot Institute of America, 1979

Why Computer Vision ?

Computer Vision provides accurate and versatile

measurements for robotic manipulators

With current general purpose hardware, depth and pose

measurements can be performed in real time

In industrial robotics, vision systems are deployed in a

fully automated way.

In medicine, computer vision can make more intelligent

‘surgical assistants‘ possible.

Type Of Robotics

• Industrial Robotics

• Medical Robotics

• Field robotics

Industrial RoboticsMostly automatic manipulation of rigid parts with

well-known shape in a specially prepared environment.

Application welding

Painting

assembly

pick and place (such as packaging, palletizing and SMT)

product inspection

testing

Requirements

Accuracy

Tool Quality

Robustness Production Quality

Strength

Speed

Price Production Cost

Maintenance

Medical Robotics

allows surgeons greater access to areas under operation

using more precise and less invasive methods.

Mostly semi-automatic manipulation of deformable

objects in a naturally created, space limited environment.

Requirements

Safety

Accuracy

Reliability

Tool Quality

Price

Maintenance

Man-Machine Interface

• Robot Advantages:

Strength

Accuracy

Speed

Does not tire

Does repetitive tasks

Can Measure

• Human advantages:

– Intelligence

– Flexibility

– Adaptability

– Skill

– Can Learn

– Can Estimate

What can Computer Vision do for

Robotics?

Accurate Robot-Object Positioning Visual Servoing

Keeping Relative Position under Movement

Visualization / Teaching / Telerobotics

Performing measurements

Object Recognition

Registration

Vision Sensors

Single Perspective Camera

Multiple Perspective Cameras (e.g. Stereo Camera Pair)

Laser Scanner

Omnidirectional Camera

Structured Light Sensor

Camera Configurations:

End-Effector Mounted Fixed

EOL and ECL control

EOL: endpoint open-loop; only the target is observed

by the camera

ECL: endpoint closed-loop; target as well as end-

effector are observed by the camera

EOL ECL

Issues/Problems of Vision Guided

Robotics

Measurement Frequency

Measurement Uncertainty

Occlusion, Camera Positioning

Sensor dimensions