Positioning of industrial robot using external smart camera vision

Abstract

This paper contains information about the positioning of industrial robot based on data obtained from the smart camera vision. The camera identifies the element on the pallet and sends information about its position to the robot controller. The application program of robot analyzes the information received, performs appropriate calculations and moves the detected items. The presented method was used in the implementation of the two operating installations which use robots from ABB and Kuka. The paper describes what were the foundation for the construction of these installations and what tasks each of them had to perform robot. The article contains a description of the communication between the robot and the vision system that uses digital IO signals as well as standard interfaces: Ethernet and RS-232. Also application programs of a robot ABB IRb-140 and vision camera Sick IVC-2D used in the construction of one of these installations are presented.