Visual Positioning and Grasping Application of Industrial Robot for Casting Parts

Guoyang Wan; Fudong Li; Guofeng Wang

doi:doi:10.11648/j.acis.20190701.13

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Visual Positioning and Grasping Application of Industrial Robot for Casting Parts

Guoyang Wan, Fudong Li, Guofeng Wang

Published in Automation, Control and Intelligent Systems (Volume 7, Issue 1)

Received: 13 March 2019 Published: 23 May 2019

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Abstract

In order to guide an industrial robot to pick a rough casting object, a visual servoing system have been designed to perform the task. This solution present an efficient method to perform robot and vision system’s hand eye calibration. Shape matching method is used to find a rough casting object, by combining Line2d algorithm and ROI selection. This vision system can find rough objects with high computational speed and it is robust to environmental noise. The experiment shows that the system repeatability is within 2mm and verify the feasibility of the method and robustness of the algorithm.

Published in	Automation, Control and Intelligent Systems (Volume 7, Issue 1)
DOI	10.11648/j.acis.20190701.13
Page(s)	18-24
Creative Commons	This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited.
Copyright	Copyright © The Author(s), 2019. Published by Science Publishing Group

Keywords

Industrial Robot, Hand Eye Calibration, Template Matching, Machine Vision

References

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[3]	P. K. Allen, A. Timcenko, B. Yoshimi, and P. Michelman, “Automated tracking and grasping of a moving object with a robotic hand–eye system”, IEEE Trans. Robot. Autom., vol. 9, no. 2, pp. 152–165, Apr. 1993.
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[6]	Heiko Koch, Alexander König, Alexandra Weigl-Seitz, Karl Kleinmann, and Jozef Suchý, “Multisensor contour following with vision, force, and acceleration sensors for an industrial robot“, IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, VOL. 62, NO. 2, FEBRUARY. 2013.
[7]	Jae Byung Park, Seung Hun Lee and Il Jae Lee,“Precise 3D Lug Pose Detection Sensor for Automatic Robot Welding Using a Structured-Light Vision System”. Sensors 2009, 9,7550-7565doi:10.3390/s90907550.
[8]	ZHANG ZY.“Camera calibration with one dimensional objects”. Computer Vision-European Conference on Computer Vision 2002. Berlin Heidelberg:Springer, 2002:161-174.
[9]	ZHANG ZY. “A flexible new technique for camera calibration”. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2000, 22(11):1330-1334.
[10]	S. Hinterstoisser, Member, IEEE, Cedric Cagniart, Slobodan Ilic, Member, IEEE, Peter Sturm, Member, IEEE, Nassir Navab, Member, IEEE, Pascal Fua, Fellow, IEEE, and Vincent Lepetit,“Gradient Response Maps for Real-Time Detection of Textureless Objects”. IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE, VOL. 34, NO. 5, MAY 2012.
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[13]	Chan, Jacob, J. A. Lee, and Q. Kemao. "BIND: Binary Integrated Net Descriptors for Texture-Less Object Recognition." 2017 IEEE Conference on Computer Vision and Pattern Recognition (CVPR) IEEE Computer Society, 2017.

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APA Style

Guoyang Wan, Fudong Li, Guofeng Wang. (2019). Visual Positioning and Grasping Application of Industrial Robot for Casting Parts. Automation, Control and Intelligent Systems, 7(1), 18-24. https://doi.org/10.11648/j.acis.20190701.13

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ACS Style

Guoyang Wan; Fudong Li; Guofeng Wang. Visual Positioning and Grasping Application of Industrial Robot for Casting Parts. Autom. Control Intell. Syst. 2019, 7(1), 18-24. doi: 10.11648/j.acis.20190701.13

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AMA Style

Guoyang Wan, Fudong Li, Guofeng Wang. Visual Positioning and Grasping Application of Industrial Robot for Casting Parts. Autom Control Intell Syst. 2019;7(1):18-24. doi: 10.11648/j.acis.20190701.13

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@article{10.11648/j.acis.20190701.13,
  author = {Guoyang Wan and Fudong Li and Guofeng Wang},
  title = {Visual Positioning and Grasping Application of Industrial Robot for Casting Parts},
  journal = {Automation, Control and Intelligent Systems},
  volume = {7},
  number = {1},
  pages = {18-24},
  doi = {10.11648/j.acis.20190701.13},
  url = {https://doi.org/10.11648/j.acis.20190701.13},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.acis.20190701.13},
  abstract = {In order to guide an industrial robot to pick a rough casting object, a visual servoing system have been designed to perform the task. This solution present an efficient method to perform robot and vision system’s hand eye calibration. Shape matching method is used to find a rough casting object, by combining Line2d algorithm and ROI selection. This vision system can find rough objects with high computational speed and it is robust to environmental noise. The experiment shows that the system repeatability is within 2mm and verify the feasibility of the method and robustness of the algorithm.},
 year = {2019}
}

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TY  - JOUR
T1  - Visual Positioning and Grasping Application of Industrial Robot for Casting Parts
AU  - Guoyang Wan
AU  - Fudong Li
AU  - Guofeng Wang
Y1  - 2019/05/23
PY  - 2019
N1  - https://doi.org/10.11648/j.acis.20190701.13
DO  - 10.11648/j.acis.20190701.13
T2  - Automation, Control and Intelligent Systems
JF  - Automation, Control and Intelligent Systems
JO  - Automation, Control and Intelligent Systems
SP  - 18
EP  - 24
PB  - Science Publishing Group
SN  - 2328-5591
UR  - https://doi.org/10.11648/j.acis.20190701.13
AB  - In order to guide an industrial robot to pick a rough casting object, a visual servoing system have been designed to perform the task. This solution present an efficient method to perform robot and vision system’s hand eye calibration. Shape matching method is used to find a rough casting object, by combining Line2d algorithm and ROI selection. This vision system can find rough objects with high computational speed and it is robust to environmental noise. The experiment shows that the system repeatability is within 2mm and verify the feasibility of the method and robustness of the algorithm.
VL  - 7
IS  - 1
ER  -

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Author Information

Guoyang Wan

Department of Electronic Engineering School of Automation and In
Fudong Li

Department of Information Engineering, Yangzhou University, Yang
Guofeng Wang

Department of Electronic Engineering School of Automation and In

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APA Style

Guoyang Wan, Fudong Li, Guofeng Wang. (2019). Visual Positioning and Grasping Application of Industrial Robot for Casting Parts. Automation, Control and Intelligent Systems, 7(1), 18-24. https://doi.org/10.11648/j.acis.20190701.13

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ACS Style

Guoyang Wan; Fudong Li; Guofeng Wang. Visual Positioning and Grasping Application of Industrial Robot for Casting Parts. Autom. Control Intell. Syst. 2019, 7(1), 18-24. doi: 10.11648/j.acis.20190701.13

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AMA Style

Guoyang Wan, Fudong Li, Guofeng Wang. Visual Positioning and Grasping Application of Industrial Robot for Casting Parts. Autom Control Intell Syst. 2019;7(1):18-24. doi: 10.11648/j.acis.20190701.13

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@article{10.11648/j.acis.20190701.13,
  author = {Guoyang Wan and Fudong Li and Guofeng Wang},
  title = {Visual Positioning and Grasping Application of Industrial Robot for Casting Parts},
  journal = {Automation, Control and Intelligent Systems},
  volume = {7},
  number = {1},
  pages = {18-24},
  doi = {10.11648/j.acis.20190701.13},
  url = {https://doi.org/10.11648/j.acis.20190701.13},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.acis.20190701.13},
  abstract = {In order to guide an industrial robot to pick a rough casting object, a visual servoing system have been designed to perform the task. This solution present an efficient method to perform robot and vision system’s hand eye calibration. Shape matching method is used to find a rough casting object, by combining Line2d algorithm and ROI selection. This vision system can find rough objects with high computational speed and it is robust to environmental noise. The experiment shows that the system repeatability is within 2mm and verify the feasibility of the method and robustness of the algorithm.},
 year = {2019}
}

Copy | Download

TY  - JOUR
T1  - Visual Positioning and Grasping Application of Industrial Robot for Casting Parts
AU  - Guoyang Wan
AU  - Fudong Li
AU  - Guofeng Wang
Y1  - 2019/05/23
PY  - 2019
N1  - https://doi.org/10.11648/j.acis.20190701.13
DO  - 10.11648/j.acis.20190701.13
T2  - Automation, Control and Intelligent Systems
JF  - Automation, Control and Intelligent Systems
JO  - Automation, Control and Intelligent Systems
SP  - 18
EP  - 24
PB  - Science Publishing Group
SN  - 2328-5591
UR  - https://doi.org/10.11648/j.acis.20190701.13
AB  - In order to guide an industrial robot to pick a rough casting object, a visual servoing system have been designed to perform the task. This solution present an efficient method to perform robot and vision system’s hand eye calibration. Shape matching method is used to find a rough casting object, by combining Line2d algorithm and ROI selection. This vision system can find rough objects with high computational speed and it is robust to environmental noise. The experiment shows that the system repeatability is within 2mm and verify the feasibility of the method and robustness of the algorithm.
VL  - 7
IS  - 1
ER  -

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