In this paper an image-based path planning approach for a dual arm robot is presented. The main idea introduced here is to develop an algorithm which is able to calculate a goal-path for the robot using visual features extracted from an image. The role of the proposed methodology is to improve the degree of automation of a robotic system and the programmability of the control code and thus to enable a 'free' planning phase. In order to implement and evaluate the designed strategy an ABB YuMi robot was considered. Multiple experiments were performed and the results obtained in this study show a satisfactory performance. Using the proposed algorithm it requires only few minutes to an operator (non expert in robot programming) to plan a complex robot trajectory for independent or synchronized motion.
An image-based path planning approach for a two arm cooperative robot
Marchesi M.;Visioli A.
2021-01-01
Abstract
In this paper an image-based path planning approach for a dual arm robot is presented. The main idea introduced here is to develop an algorithm which is able to calculate a goal-path for the robot using visual features extracted from an image. The role of the proposed methodology is to improve the degree of automation of a robotic system and the programmability of the control code and thus to enable a 'free' planning phase. In order to implement and evaluate the designed strategy an ABB YuMi robot was considered. Multiple experiments were performed and the results obtained in this study show a satisfactory performance. Using the proposed algorithm it requires only few minutes to an operator (non expert in robot programming) to plan a complex robot trajectory for independent or synchronized motion.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
