No abstract

A robot trajectory teaching system with a vision-based positioning pen, which we called Solpen, is developed to generate pose paths of six degrees of freedom (6-DoF) for vision-guided robotics applications such as welding, cutting, painting, or polishing, which can achieve a millimeter dynamic accuracy within a meter working distance from the camera. The system is simple and requires only a 2D camera and the printed ArUco markers which are hand-glued on 31 surfaces of the designed 3D-printed Solpen. Image processing techniques are implemented to remove noise and sharpen the edge of the ArUco images and also enhance the contrast of the ArUco edge intensity generated by the pyramid reconstruction. In addition, the least squares method is implemented to optimize parameters for the center pose of the truncated Icosahedron center, and the vector of the Solpen-tip. From dynamic experiments conducted with ChArUco board to verify exclusively the pen performance, the developed system is robust within its working range, and achieves a minimum axis-accuracy at approximately 0.8 mm.

This research proposes a practical method for detecting featureless objects by using image alignment approach with a robust similarity measure in industrial applications. This similarity measure is robust against occlusion, illumination changes and background clutter. The performance of the proposed GPU (Graphics Processing Unit) accelerated algorithm is deemed successful in experiments of comparison between both CPU and GPU implementations

Abstract. Use of robotic arms and computer vision in manufacture, and assembly process are getting more interest as flexible customization is becoming priority over mass production as frontier industry practice. In this paper an innovative label applicator as end of arm tooling (EOAT) capable of dispensing and applying label stickers of various dimensions to a product is designed, fabricated and tested. The system incorporates a label dispenserapplicator and had eye-in-hand camera system, attached to 6-dof robot arm can autonomously apply a label sticker to the target position on a randomly placed product. Employing multiple advantages from different knowledge basis, mechanism design and vision based automatic control, offers this system distinctive efficiency as well as flexibility to change in manufacturing and assembly process with time and cost saving.