2D IMAGE-BASED INDUSTRIAL ROBOT END EFFECTOR TRAJECTORY CONTROL ALGORITHM

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Published: Mar 30, 2018
DOI: https://doi.org/10.23743/acs-2018-07
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DOI

https://doi.org/10.23743/acs-2018-07

Authors

Anna CZARNECKA

l.sobaszek@pollub.pl

* Lublin University of Technology, Faculty of Mechanical Engineering, Institute of Technological Systems of Information, Nadbystrzycka 36, 20-618 Lublin, Portugal
Łukasz SOBASZEK

l.sobaszek@pollub.pl

Lublin University of Technology, Faculty of Mechanical Engineering, Institute of Technological Systems of Information, Nadbystrzycka 36, 20-618 Lublin, Poland
Antoni ŚWIĆ

a.swic@pollub.pl

Lublin University of Technology, Faculty of Mechanical Engineering, Institute of Technological Systems of Information, Nadbystrzycka 36, 20-618 Lublin, Poland

Abstract

This paper presents an algorithm for programming an industrial robot’s end effector path based on 2D images. The first section gives a brief overview of modern solutions for industrial robot implementation. The next section describes the test set-up and the software used in tests. The work also presents the key elements of the controller algorithm and their operation: 2D image processing with MATLAB software, generating the code for robot control in AS language, and implementation of the produced codes to the Kawasaki RS003N robot.

Keywords:

industrial robots, robots programming, AS language, MATLAB

References

Article Details

CZARNECKA, A., SOBASZEK, Łukasz, & ŚWIĆ, A. (2018). 2D IMAGE-BASED INDUSTRIAL ROBOT END EFFECTOR TRAJECTORY CONTROL ALGORITHM. Applied Computer Science, 14(1), 73–83. https://doi.org/10.23743/acs-2018-07