Experimental study on vision motion measures in robotics

Abstract

In this paper a technique that uses a fixed camera for the acquisition of the trajectories described by the end effector of a planar robot is illustrated. After a theoretical description of the motion perceptibility problem, an experimental plant, set up on purpose and consisting in a two link planar robot and a fixed digital camera, is described. The procedures that allow the calibration of the vision device, as well as an estimation of the resolution of the measure process are highlighted. As results the actual paths described by the end-effector in the robot work plane are presented.