000022803 001__ 22803
000022803 005__ 20220110134527.0
000022803 04107 $$aeng
000022803 046__ $$k2018-05-14
000022803 100__ $$aŁaganowska, M.
000022803 24500 $$aDetermining the trajectory of filling a rectangular flat area for an industrial robot using a marker and a single-camera vision system

000022803 24630 $$n24.$$pEngineering Mechanics 2018
000022803 260__ $$bInstitute of Theoretical and Applied Mechanics of the Cech Academy of Sciences, Prague
000022803 506__ $$arestricted
000022803 520__ $$2eng$$aThe paper presents a vision system of an industrial robot, used to identify the location of an object in space by means of a marker. On this basis, the trajectory of the robot is determined, which is to fill the area with a rectangular shape. The ArUco module was used to detect the markers. It allows the recognition of ARTag markers with their position and orientation in relation to the camera. The first stage of the algorithm is calibration of the camera, using the ChArUco table (it is part of the ArUco module) and reading the calibration parameters. Next part is generating a tag that will be used in the algorithm. The next step is to detect the marker and then determine its actual location. In the last stage, a border is drawn for the found tag. Marker location and orientation values resulting from the algorithm's operation are used to control the robot's movement in order to determine the desired trajectory.

000022803 540__ $$aText je chráněný podle autorského zákona č. 121/2000 Sb.
000022803 653__ $$avision system, image processing, markers detection, ArUco markers

000022803 7112_ $$aEngineering Mechanics 2018$$cSvratka, CZ$$d2018-05-14 / 2018-05-17$$gEM2018
000022803 720__ $$aŁaganowska, M.$$iZwierzchowski, J.
000022803 8560_ $$ffischerc@itam.cas.cz
000022803 8564_ $$s825035$$uhttps://invenio.itam.cas.cz/record/22803/files/481.pdf$$yOriginal version of the author's contribution in proceedings, page , section MCT.
000022803 962__ $$r21225
000022803 980__ $$aPAPER