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The feature-based visual servoing approach has been used to control robot through vision. In order to find the position of the end effector by vision and through robot performance tests, computational kinematic approach has been used. The software carries out the duty of environment simulation and operation of an industrial robot. The disputes rela...
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... industrial robots and performing laboratory tests based on path-related perform- ance characteristic tests. First, the structure and components of 3P Cartesian robots are explained. Then the improved labeling algorithm which has decreased the necessary time is presented. The detail implementation of a simulation software is explained as shown in Fig. 1. Finally, the two different version of the simu- lation software are presented to investigate the robot error based on two international standards in order to determine path related parameters. ISO 9283 and ANSI/RIA R15.05.2 are used to deter- mine path related parameters. [16] Finally, an experiment involv- ing a 3P Cartesian robot is ...
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... and as the end effector moves in this path, we take image from the end effec- tor by the two cameras fixed on the computer permanently. The end effector coordination will be determined in the image plan. Using neural network, we change the image plan specifications to the reference frame. The desired path and actual path have been drawn in Fig. ...
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... this part, we compute the principles and their relations. The robot end effector moves over the rectangular path based on stan- dard platform (Fig. 10), and the number of points for evaluation will be considered in m = 34 and this will be repeated 10 times (n = 10). Using 2 cameras, looking at the end effector with a certain distance at different periods, image taking is done from end ef- fector and its coordinations are achieved from image plan. The achieved coordinations in this ...
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... gravity centers of the paths based on the Eq. 1 and Eq. 2 are computed (Fig. 12), and path deviation D ij is com- puted based on Eq. 3. Then Eq. 4 and Eq. 5 are determined by using the average of repetition PR = 0.0154 and maximum of repetition,PR = 0.0273 (units are ×40 mm). Also CR corner deviation error and CO cornering over shoot for the above- mentioned text according to Eq. 6 and Eq. 7 are listed in Table ...
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... order to operate a visual system for controlling a robot, some facilities are needed which may be different base on their us- age's. Camera is the main hardware of visual system, and in different visual system the only similar part is camera. In this system the following components are needed (Fig. 13). ...
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... on camera in order to get efficiency of different terms of light on an image and inform about the process of objects recognition. By some tests we can specify the robot's errors. Standard for robots test platform are used to specify the error rate [16]. Path accuracy evaluation points for both circle and rectangular references path are conducted (Fig. ...
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... similar images in different terms of light will have different results. Possibility of identifying an object in an image is in high (Fig. 15a,b) 7.2 Controlling robot by camera When there is an image and the main object is recognized, number of pixels between object and the place of its stand can be calculated through image. After giving this number to robot control system for robot moving and prompt reach- ing to objects. Calculating pulse number bases on pixel num- ber for ...
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... y, z axes is different. The differ- ence is the result of gearwheel sizes and each one is different from the other. Traversing an equal rate for each axis needs different pulses. These pulses should be obtained by try and error, of course because of robot mechanical limitation, it may not be able to transmit the robot exactly toward the target. (Fig. 14) 7.3 Performing standard tests on 3P robot Path accuracy evaluation points for both rectangular and circle reference path is carried out based on ANSI/RIA R15.05-2 stan- dard path as shown in Figs. 16 and ...
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... this standard, a rectangular path should evaluate at least 20 points of robot's actual path and reference path as shown in Fig. 16. Similarly, we should use at least 12 points for circle path. (Fig. 17) It can be seen diagram of result of U and V of the experiment about rectangular paths for 10 times in Fig. 18 by using Eq. 3 and 4. Similarly, the diagram of result of U and V of the experiment about circle paths for 10 times are shown in Fig. 19. 18. Diagram of ...
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... this standard, a rectangular path should evaluate at least 20 points of robot's actual path and reference path as shown in Fig. 16. Similarly, we should use at least 12 points for circle path. (Fig. 17) It can be seen diagram of result of U and V of the experiment about rectangular paths for 10 times in Fig. 18 by using Eq. 3 and 4. Similarly, the diagram of result of U and V of the experiment about circle paths for 10 times are shown in Fig. 19. 18. Diagram of mean of U, V for each evaluation point on the rectangular paths for 10 ...
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... this standard, a rectangular path should evaluate at least 20 points of robot's actual path and reference path as shown in Fig. 16. Similarly, we should use at least 12 points for circle path. (Fig. 17) It can be seen diagram of result of U and V of the experiment about rectangular paths for 10 times in Fig. 18 by using Eq. 3 and 4. Similarly, the diagram of result of U and V of the experiment about circle paths for 10 times are shown in Fig. 19. 18. Diagram of mean of U, V for each evaluation point on the rectangular paths for 10 times Tables 2 and 3 are obtained. Results show that the error on rectangle path is ascending. Most of errors are ...
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... reference path as shown in Fig. 16. Similarly, we should use at least 12 points for circle path. (Fig. 17) It can be seen diagram of result of U and V of the experiment about rectangular paths for 10 times in Fig. 18 by using Eq. 3 and 4. Similarly, the diagram of result of U and V of the experiment about circle paths for 10 times are shown in Fig. 19. 18. Diagram of mean of U, V for each evaluation point on the rectangular paths for 10 times Tables 2 and 3 are obtained. Results show that the error on rectangle path is ascending. Most of errors are related to x axis that its me- chanical movement system is weaker than the others. It should be noted that the results of these tests ...
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... 17) It can be seen diagram of result of U and V of the experiment about rectangular paths for 10 times in Fig. 18 by using Eq. 3 and 4. Similarly, the diagram of result of U and V of the experiment about circle paths for 10 times are shown in Fig. 19. 18. Diagram of mean of U, V for each evaluation point on the rectangular paths for 10 times Tables 2 and 3 are obtained. ...
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