Vision based trajectory planning of MELFA industrial robot using MATLAB and lowcost webcam
VERSLEEGERS, W., ČERMÁK, R. Vision based trajectory planning of MELFA industrial robot using MATLAB and lowcost webcam. Plzeň, 2014.
|Anglický název:||Vision based trajectory planning of MELFA industrial robot using MATLAB and lowcost webcam|
|Autoři:||Wim Versleegers , Ing. Roman Čermák Ph.D.|
|Abstrakt EN:||The contribution deals with trajectory planning of an industrial robotic arm Mitsubishi Melfa RV2-SD using MATLAB tools. The aim of this contribution is to inform about using of MATLAB toolboxes (both commercial and open-source) and non-expensive HW (webcam) to analyze a simple 2D scene, identify objects of interest in the scene, calculate joint coordinates of the robot (inverse kinematics) and after that visualize the robot posture on the display and move robot to desired position, pick up the object and move it given location (given place in a warehouse). Described problem was elaborated in the Wim Versleegers? final project  during his Erasmus stay at the University of West Bohemia in Pilsen in spring semester 2014|