Determining Position and Orientation of 6R Robot using Image Processing

Document Type : Original Article


Iran University of Science and Technology (IUST)


Stereo vision is one of the best image processing softwares to identify the environment of robot and allow its simultaneous process for providing three-dimensional measurement in an acceptable rate. On the one hand, vision measurement has simple structure and on the other hand it is independent from active machine or robot. Appropriate software and efficient programming could improve the performance with same hardware (cameras). In this paper, stereo vision robot localization is used and the main code was developed in open source computer vision (Open CV) environment. The mathematical relationship between the three-dimensional reference coordinates and the local coordinates for entire system are presented. The vision system is an independent unit consists of two high definition (HD) cameras, set in a rotary base. The application of this measurement provides the position and orientation of 6R robot to verify its current measurement system. Stereo vision improved the speed of the image processing in comparison with image processing of MATLAB Toolbox that led to online monitoring of trajectory. Experimental tests of the proposed method express the capability of stereo vision in practical operations as a supervisory section.


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