Experiments comparing precision of stereo-vision approaches for control of an industrial manipulator
Résumé
Despite years of research in the area of robotics, the vast majority of industrial robots are still used in "teach-repeat" mode. This requires that the workpiece be in exactly the same position and orientation every time. In many high-volume robotics applications, this is not a problem, since the parts are likely to be fixtured anyway. However, in small to medium lot applications, this can be a significant limitation. In a previous work, we proposed an approach for vision based manipulation, which do not have these limitaitons. This paper proses a deep analysis of the accuracy of the method, its limitations, and a comprison with other approaches.
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