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Robot - Vision (Industrial and Service Robots) - Handouts

Robot - Vision (Industrial and Service Robots) - Handouts

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Published by Aswath Ram

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Published by: Aswath Ram on Sep 25, 2011
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09/25/2011

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23
09
2011
 
1
 
VISION FOR INDUSTRIAL ANDSERVICE ROBOTSAN INTRODUCTION 
R.SENTHILNATHAN
RESEARCH SCHOLARDEPARTMENT OF PRODUCTION TECHNOLOGYMIT CAMPUS, ANNA UNIVERSITY CHENNAI
Revolution
2
Agricultural Revolution
Industrial Revolution
Electrification
Transportation
Communication
Computers
Industrial Robots
Service Robots
 
Analogies
3
Profound, Widespread and Global
Mental to Physical Leverage
Mainframes to Industrial Robots
PCs to Service Robots
The Price and Volume curves
Software and Applications
Third Party Applications
Mobile, Personal and Household
Industrial Robot
4
From ISO 8373
An automatically controlled,reprogrammable,multipurposemanipulator programmable in three or moreaxes, whichmay either fixed in place or mobile for usein an industrial automation application.
 
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2
 
Service Robot
5
Provisional from Working Group
A service robot is a robot which operatessemi- or fully autonomously to performservices useful to the well-being of humans and equipment,excludingmanufacturing operations.
Perception to Physical Access
How Humans do?
Locatewith eyes
Calculatetarget with brain
Guidewith arm and fingers
How Robots do?
Locatewith camera
Calculatetarget with software
Guidewith robot and grippers
6
Role of Perception in Robot Manipulation
7
Where am I relative to the world?
sensors: vision, stereo, range sensors, acoustics
problems: scene modeling/classification/recognition
integration: localization/mapping algorithms (e.g. SLAM)
What is around me?
sensors: vision, stereo, range sensors, acoustics, sounds, smell
problems: object recognition, qualitative modeling
integration: collision avoidance/navigation, learning
Role of Perception in Robot Manipulation
8
How can I safely interact with environment ?
sensors: vision, range, haptics (force+tactile)
problems: structure/range estimation, modeling, tracking,materials, size, weight, inference
integration: navigation, manipulation, control, learning
How can I solve “new” problems (generalization)?
sensors: vision, range, haptics.
problems: categorization by function/shape/context 
integrations: inference, navigation, manipulation, control, learning
 
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3
 
Vision for Robots
9
Vision for Industrial Robots: GIGI
Gauging
Inspection
Guidance
Identification
Vision for Service Robots
Preprocess Environment
Sensor Fusion
Industry vs. Service Sector
10
Strength if Industry Sector
Many Years of Experience
Motors, Speed, Precision
Vision, Force, Torque, Encoders
Vision Frontiers in Service Robots
Uncontrolled Environment and Safety
Sensor Fusion and Reliability
Building Blocks inDesignof Vision GuidedRobots
Lighting
Technique (Frontlight, Backlight)
Source (Fluorescent tubes, Halogen and xenon lamps, LED, Laser)
Optics
Vision Cameras
Type of sensor (CCD, CMOS etc)
Spec. of Camera (Resolution, Frame rate, etc)
Type of Camera (Line Scan, Area Scan, Structured Light, Time of Flight)
Interface (Standalone, Computer Interface)
Software
Robot Types
Camera Mounting (Eye in Hand, Eye to Hand)
11
Scene
Parts
Discrete parts or endless material (e.g., paper)
Minimum and maximum dimensions
Changes in shape
Description of the features that have to be extracted
Changes of these features concerning error parts andcommon product variation
Surface finish
Color
Corrosion, oil films, or adhesives
Changes due to part handling
12

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