Design of a PC-based Open Industrial Robot Control System Integrated with Real-Time Machine Vision

Yanan Liu; Tianliang Hu; Hepeng Ni; Chengrui Zhang; Bao Lin; Euan Judd

doi:10.1109/WRC-SARA.2018.8584214

Design of a PC-based Open Industrial Robot Control System Integrated with Real-Time Machine Vision

Yanan Liu, Tianliang Hu, Hepeng Ni, Chengrui Zhang, Bao Lin, Euan Judd

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

2 Citations (Scopus)

515 Downloads (Pure)

Abstract

This paper presents a new industrial robot control system integrated with real-time image processing based on a Windows PC. This enables both machine vision and robot control tasks to be carried out on a single general-purpose computer rather than using two separate systems to perform different tasks. To accomplish this, a three-layer software structure is developed along with a series of standard peripheral devices in the hardware layout. Real-time performance of the system is tested and we demonstrate the system on a DELTA parallel manipulator. Experimental results show that the manipulator can pick up 120 objects on a moving conveyor per minute. This work demonstrates the feasibility of integrating real-time machine vision tasks with robot control tasks without dedicated hardware.

Original language	English
Title of host publication	2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA)
Subtitle of host publication	Proceedings of a meeting held 16 August 2018, Beijing, China.
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	1-6
Volume	1
ISBN (Electronic)	9781538676752
ISBN (Print)	9781538676769
DOIs	https://doi.org/10.1109/WRC-SARA.2018.8584214
Publication status	Published - 24 Dec 2018

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Liu, Y., Hu, T., Ni, H., Zhang, C., Lin, B., & Judd, E. (2018). Design of a PC-based Open Industrial Robot Control System Integrated with Real-Time Machine Vision. In 2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA): Proceedings of a meeting held 16 August 2018, Beijing, China. (Vol. 1, pp. 1-6). Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/WRC-SARA.2018.8584214

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title = "Design of a PC-based Open Industrial Robot Control System Integrated with Real-Time Machine Vision",

abstract = "This paper presents a new industrial robot control system integrated with real-time image processing based on a Windows PC. This enables both machine vision and robot control tasks to be carried out on a single general-purpose computer rather than using two separate systems to perform different tasks. To accomplish this, a three-layer software structure is developed along with a series of standard peripheral devices in the hardware layout. Real-time performance of the system is tested and we demonstrate the system on a DELTA parallel manipulator. Experimental results show that the manipulator can pick up 120 objects on a moving conveyor per minute. This work demonstrates the feasibility of integrating real-time machine vision tasks with robot control tasks without dedicated hardware.",

author = "Yanan Liu and Tianliang Hu and Hepeng Ni and Chengrui Zhang and Bao Lin and Euan Judd",

year = "2018",

month = dec,

day = "24",

doi = "10.1109/WRC-SARA.2018.8584214",

language = "English",

isbn = "9781538676769",

volume = "1",

pages = "1--6",

booktitle = "2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA)",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

address = "United States",

}

Liu, Y, Hu, T, Ni, H, Zhang, C, Lin, B & Judd, E 2018, Design of a PC-based Open Industrial Robot Control System Integrated with Real-Time Machine Vision. in 2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA): Proceedings of a meeting held 16 August 2018, Beijing, China.. vol. 1, Institute of Electrical and Electronics Engineers (IEEE), pp. 1-6. https://doi.org/10.1109/WRC-SARA.2018.8584214

Design of a PC-based Open Industrial Robot Control System Integrated with Real-Time Machine Vision. / Liu, Yanan; Hu, Tianliang; Ni, Hepeng et al.
2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA): Proceedings of a meeting held 16 August 2018, Beijing, China.. Vol. 1 Institute of Electrical and Electronics Engineers (IEEE), 2018. p. 1-6.

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

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T1 - Design of a PC-based Open Industrial Robot Control System Integrated with Real-Time Machine Vision

AU - Liu, Yanan

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AU - Lin, Bao

AU - Judd, Euan

PY - 2018/12/24

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N2 - This paper presents a new industrial robot control system integrated with real-time image processing based on a Windows PC. This enables both machine vision and robot control tasks to be carried out on a single general-purpose computer rather than using two separate systems to perform different tasks. To accomplish this, a three-layer software structure is developed along with a series of standard peripheral devices in the hardware layout. Real-time performance of the system is tested and we demonstrate the system on a DELTA parallel manipulator. Experimental results show that the manipulator can pick up 120 objects on a moving conveyor per minute. This work demonstrates the feasibility of integrating real-time machine vision tasks with robot control tasks without dedicated hardware.

AB - This paper presents a new industrial robot control system integrated with real-time image processing based on a Windows PC. This enables both machine vision and robot control tasks to be carried out on a single general-purpose computer rather than using two separate systems to perform different tasks. To accomplish this, a three-layer software structure is developed along with a series of standard peripheral devices in the hardware layout. Real-time performance of the system is tested and we demonstrate the system on a DELTA parallel manipulator. Experimental results show that the manipulator can pick up 120 objects on a moving conveyor per minute. This work demonstrates the feasibility of integrating real-time machine vision tasks with robot control tasks without dedicated hardware.

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DO - 10.1109/WRC-SARA.2018.8584214

M3 - Conference Contribution (Conference Proceeding)

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BT - 2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA)

PB - Institute of Electrical and Electronics Engineers (IEEE)

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Liu Y, Hu T, Ni H, Zhang C, Lin B, Judd E. Design of a PC-based Open Industrial Robot Control System Integrated with Real-Time Machine Vision. In 2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA): Proceedings of a meeting held 16 August 2018, Beijing, China.. Vol. 1. Institute of Electrical and Electronics Engineers (IEEE). 2018. p. 1-6 doi: 10.1109/WRC-SARA.2018.8584214

Design of a PC-based Open Industrial Robot Control System Integrated with Real-Time Machine Vision

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