Location and Vision Techniques to Control a KUKA KR6 R900 Sixx Robot Arm

摘要

This paper presents a combination of several vision techniques to control a KUKA KR6 R900 sixx robot arm. This work aims to design a multi-object sorting application of parts with different dimensions and characteristics. VisionTech, a KUKA Software package, was installed into the compact KRC4 controller and applied as a 2D location tool. Off-line programming was used to integrate a LIDAR based localization system. The external programming environment is provided by the KUKA KLI interface. The vision system combined to the LIDAR detection provided an efficient location tool.