This paper analyzes a strategy for characterization of plane surfaces using stereo vision and manipulation. Characterization involves three steps: definition of orientation (normal versor to the plane), definition of the figure center of massand definition of a proper frame of reference solidal to such plane. When all these quantities are defined, the plane can be considered as characterized. In this work, plane orientation is obtained using stereo vision and structured light. The second step is solved by power manipulation, orienting the plane orthogonal to the camera focal axes to give the figure center of mass. The frame of reference solidal to the plane can now be placed as an example in the center of mass. In this work, kinematic analysis is fully developed, considering a robot with six degrees of freedom. The proposed method can be applied to enhance the efficiency of robotized assembly cells. The main problem in assembly is actually continuity in the dimension of assembled parts. Parts with working errors beyond a fixed limit can cause plant stoppage. The proposed method can be used to avoid this problem or at least to extend dimensional limits.

Date Published: 3 October 1995
PDF: 11 pages
Proc. SPIE 2588, Intelligent Robots and Computer Vision XIV: Algorithms, Techniques, Active Vision, and Materials Handling, (3 October 1995); doi: 10.1117/12.222717

Published in SPIE Proceedings Vol. 2588:
Intelligent Robots and Computer Vision XIV: Algorithms, Techniques, Active Vision, and Materials Handling
David P. Casasent, Editor(s)