Application of vision information to planning trajectories of Adept Six-300 robot

摘要

This article <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">1</sup> presents the algorithms of calculations of the manipulation object coordinate position and orientation, for the planning movement of the robot Adept Six-300. Two cameras Edimax IC-7100P observe objects in the robot environment. To geometric calibration of these cameras it was used the original algorithm that does not require calculation of the projection matrix or fundamental matrix. Thanks to this used algorithm is faster and more accurate than methods with these arrays. The input of these algorithms are the coordinates of the characteristic points of the manipulation object, obtained by these two cameras. On the basis of these input data the coordinates of the position and orientation of the object seen by the cameras are calculated. For these coordinates the joint variables of the manipulator are calculated by means of the program that takes into account the singular configurations and that optimize a quality indicator. These variables describe the trajectory approaching of the gripper to the object, grasp and pick up it. All calculations are doing in external computer constituting a server that cooperates with cameras and robot controller, by means of the Ethernet.