标题：Visual Servo for Fast Glass Handling by Industrial Robot with Large Sensor Latency and Low Sampling Rate * * This project is supported by Lens Technology, Changsha, China.
摘要：AbstractIn the protective glass manufacturing industry for cell phones, the raw glass pieces need to be ground to the desired thickness with a grinder, which requires precise glass handling by human workers leading to a bottleneck in the production line. A low cost glass loading system with an industrial robot and web cameras is proposed to support human workers. Due to the hardware limitations, the precision and speed cannot be guaranteed. A two step approach is implemented to overcome these limitations. The glass is detected with non-linear geometry regression in data acquired by a web camera. After being picked up, the glass is placed accurately into the desired equally sized slot with an image-based visual servo and a dual-rate Unscented Kalman Filter.
关键词：KeywordsRoboticsNon-Linear Control SystemsControl DesignStochastic SystemsRobust Control
