industrial robovision
TRANSCRIPT
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INDUSRIAL Robot-vision
Seminar By - Harshal Gosavi.E&TC
VIIT , Pune
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Content Robotics in General
Industrial Robotics
Medical Robotics
What can Computer Vision do for Robotics?
Vision Sensors
Issues / Problems
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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
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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.
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Type Of Robotics
• Industrial Robotics
• Medical Robotics
• Field robotics
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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
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Requirements
Accuracy
Tool Quality
Robustness Production Quality
Strength
Speed
Price Production Cost
Maintenance
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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.
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Requirements
Safety
Accuracy
Reliability
Tool Quality
Price
Maintenance
Man-Machine Interface
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• Robot Advantages:
Strength
Accuracy
Speed
Does not tire
Does repetitive tasks
Can Measure
• Human advantages:
– Intelligence
– Flexibility
– Adaptability
– Skill
– Can Learn
– Can Estimate
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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
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Vision Sensors
Single Perspective Camera
Multiple Perspective Cameras (e.g. Stereo Camera Pair)
Laser Scanner
Omnidirectional Camera
Structured Light Sensor
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Camera Configurations:
End-Effector Mounted Fixed
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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
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Issues/Problems of Vision Guided
Robotics
Measurement Frequency
Measurement Uncertainty
Occlusion, Camera Positioning
Sensor dimensions
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