KUKA robot control based Kinect image analysis

摘要

In this work, we have investigated the processes required for visual extracting and the remote control of KUKA KR-125 industrial robot manipulator. For this purpose, the robot controller communicates with the external system via anEthernet cable IEEE 802.3. The exchanged data are transmitted thanks to TCP/IP Protocol. To do this, we performed a client/server application with all relevant motions control. Second, we set up a Kinect in the robotproximity for the detection of objects (recognition of form, determination of position etc...) and finally we applied it to a practical example: we have programmed the robot to be able to stack object thanks to the reliability of the visual processing.