Adaptive Robot Based Visual Inspection of Complex Parts

摘要

In this paper an architecture for robot based visual inspection of complex parts is presented. Based on this architecture two systems have been implemented, one for visual engine compartment inspection and another for visual weld seam inspection for car manufacturing. The two main goals of the work are: (1) Defining open interfaces between a host computer, an industrial robot and a vision system. (2) Automating the adaptation of a robot based visual inspection system to new tasks.