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Proceedings Paper

Development of a teaching system for an industrial robot using stereo vision
Author(s): Kazuya Ikezawa; Yasuo Konishi; Hiroyuki Ishigaki
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Paper Abstract

The teaching and playback method is mainly a teaching technique for industrial robots. However, this technique takes time and effort in order to teach. In this study, a new teaching algorithm using stereo vision based on human demonstrations in front of two cameras is proposed. In the proposed teaching algorithm, a robot is controlled repetitively according to angles determined by the fuzzy sets theory until it reaches an instructed teaching point, which is relayed through cameras by an operator. The angles are recorded and used later in playback. The major advantage of this algorithm is that no calibrations are needed. This is because the fuzzy sets theory, which is able to express qualitatively the control commands to the robot, is used instead of conventional kinematic equations. Thus, a simple and easy teaching operation is realized with this teaching algorithm. Simulations and experiments have been performed on the proposed teaching system, and data from testing has confirmed the usefulness of our design.

Paper Details

Date Published: 9 December 1997
PDF: 10 pages
Proc. SPIE 3203, Architectures, Networks, and Intelligent Systems for Manufacturing Integration, (9 December 1997); doi: 10.1117/12.294435
Show Author Affiliations
Kazuya Ikezawa, Himeji Institute of Technology (Japan)
Yasuo Konishi, Himeji Institute of Technology (Japan)
Hiroyuki Ishigaki, Himeji Institute of Technology (Japan)


Published in SPIE Proceedings Vol. 3203:
Architectures, Networks, and Intelligent Systems for Manufacturing Integration
Bhaskaran Gopalakrishnan; San Murugesan; Odo Struger; Gerfried Zeichen, Editor(s)

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