Determining the trajectory of filling a rectangular flat area for an industrial robot using a marker and a single-camera vision system

Abstract eng:
The 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.

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