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 proceedingConference Contribution (Conference Proceeding)

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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 languageEnglish
Title of host publication2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA)
Subtitle of host publicationProceedings of a meeting held 16 August 2018, Beijing, China.
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages1-6
Volume1
ISBN (Electronic)9781538676752
ISBN (Print)9781538676769
DOIs
Publication statusPublished - 24 Dec 2018

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  • Cite this

    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