Security increasing in Industrial robotics based on artificial vision

• Autor(es): Lima, José ; Gonçalves, José ; Leitão, Paulo
• Data: 2005
• Identificador Persistente: http://hdl.handle.net/10198/1905
• Origem: Biblioteca Digital do IPB
• Assunto(s): Robótica; Visão artificial
• Tipo de Documento: Artigo
• Idioma: Inglês

Descrição

This paper describes a vision validation system allowing security increasing in industrial robotics applications using, as case study, a playful application: the chess robot system. This system allows remote users to play chess, using a six axes anthropomorphic robot to move chess pieces in the chessboard on getting commands from the player and from the application chess engine. In this work, the mechanism to detect pieces in the chessboard is based in artificial vision due to its hardware simplicity. The developed vision software implements a positioning calibration allowing a high degree of system flexibility in terms of size and positioning of the chessboard, as well as its distance to the camera. The calibration of colours is also possible in order to change the chessboard and pieces colours without interference. In this paper are presented and discussed some image processing algorithms and the future work.