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I. INTRODUCTION
Industrial robots have experienced a rapid growth
recently due to the lack of skilled manpower in many sectors
of industry. In industrial manufacturing, robots are required
to perform repetitive and non-repetitive tasks, such as hand
writing [1]. 3D cameras like Kinect [2] could be integrated
with robotics systems to perform such tasks. Kinect, using its
depth camera [3, 4], can be calibrated to estimate the
position of objects in front of it with reliable precision.
Scene analysis is also crucial. Estimation of the target
position depends upon the precision of image processing of
the scene [5].
II.METHODS AND RESULTS
The experimental system (Figure 1) consists of an ABB
robot and its controller (connected to the main computer),
plus a Kinect camera. The interaction between the camera
and the robot arm relies on a scheme that is developed
based on RobotStudio and Visual Studio. The integration of
both platforms allows the robot to find the object in the
correct world frame position.
III. CONCLUSION
Using the proposed approach, the ABB robot that
integrates Kinect is able to perform pick and place tasks
with high accuracy.
ACKNOWLEDGMENT
We would like to express our gratitude to Catcher
Technology Co Ltd for providing us with the ABB robot.
REFERENCES
[1]
[2]
[3]
[4]
[5]