2D IMAGE-BASED INDUSTRIAL ROBOT END EFFECTOR TRAJECTORY CONTROL ALGORITHM
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
Lublin University of Technology, Faculty of Mechanical Engineering, Institute of Technological Systems of Information, Nadbystrzycka 36, 20-618 Lublin (Poland)
Antoni ŚWIĆ
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, MATLABReferences
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Authors
Anna CZARNECKAl.sobaszek@pollub.pl
* Lublin University of Technology, Faculty of Mechanical Engineering, Institute of Technological Systems of Information, Nadbystrzycka 36, 20-618 Lublin Portugal
Authors
Łukasz SOBASZEKLublin University of Technology, Faculty of Mechanical Engineering, Institute of Technological Systems of Information, Nadbystrzycka 36, 20-618 Lublin Poland
Authors
Antoni ŚWIĆLublin University of Technology, Faculty of Mechanical Engineering, Institute of Technological Systems of Information, Nadbystrzycka 36, 20-618 Lublin Poland
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