Introducing a New 6R Robot Simulator Software

Abstract

In this article, the software which is designed for simulating 6R Robot's function, is introduced. In this project, the simulator of 6R robot, was examined in terms of software and test. In the new version of the software, three cameras were used simultaneously. The camera which is installed as eye-in-hand on the end-effector of the robot is used for visual servoing in a Feature-based method. The target object is recognized according to its characteristics and the robot is directed toward the object in compliance with an algorithm similar to the function of human's eyes. Then, the function and accuracy of the operation of the robot are examined through Position-based visual servoing method, using two cameras installed as eye-to-hand in the environment.