基于库卡机器人控制的Kinect图像分析

2013 International Conference on Individual and Collective Behaviors in Robotics (ICBR) Pub Date : 2013-12-01 DOI:10.1109/ICBR.2013.6729264

Hassine Belhadj, Saber Ben Hassen, Khaled Kaaniche, Hassen Mekki

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引用次数: 9

摘要

在本工作中，我们研究了KUKA KR-125工业机器人机械手的视觉提取和远程控制所需的工艺。为此，机器人控制器通过以太网电缆IEEE 802.3与外部系统通信。交换的数据通过TCP/IP协议传输。为此，我们执行了一个带有所有相关运动控制的客户机/服务器应用程序。其次，我们在机器人附近设置了一个Kinect来检测物体(识别形状，确定位置等)，最后我们将其应用到一个实际的例子中:由于视觉处理的可靠性，我们已经对机器人进行了编程，使其能够堆叠物体。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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KUKA robot control based Kinect image analysis

In this work, we have investigated the processes required for visual extracting and the remote control of KUKA KR-125 industrial robot manipulator. For this purpose, the robot controller communicates with the external system via anEthernet cable IEEE 802.3. The exchanged data are transmitted thanks to TCP/IP Protocol. To do this, we performed a client/server application with all relevant motions control. Second, we set up a Kinect in the robotproximity for the detection of objects (recognition of form, determination of position etc...) and finally we applied it to a practical example: we have programmed the robot to be able to stack object thanks to the reliability of the visual processing.

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2013 International Conference on Individual and Collective Behaviors in Robotics (ICBR)

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