A very common task of an industrial robot is pick-and-place where the robot picks up an object at one place and puts it down in a different place. The orientation of the object can be determined with a camera, however, a suitable lighting, a camera calibration and a transformation between the world frame and the camera frame must be provided. Then, it is necessary to specify an appropriate movement of an end-effector to the position of the object. This thesis addresses the problem of the robot moving the objects that were located with the camera. The end-effector moved according to the programmed path and placed the objects in the final positions.
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