Polishing Tool Tip Position Tracking

asked 2016-10-25 06:20:44 -0500

R.Mehra gravatar image


I am working on a project in which I am using a Mitsubishi Industrial Robot to perform polishing of metal parts. I want to track the position of the polishing tool in the workspace during the polishing operation using a camera. The plan is to mount the camera vertically on top of the space where the workpiece is polished.

Here youcan find a raw sketch to describe what I had initially planned.

I have a few questions pertaining to the concept.

  1. Will the kinect camera be able to detect the position of the tool tip during the polishing operation?
  2. What will be the accuracy of the measured position? Can it be improved by calibration?
  3. What kind of marker could I use on the robot or the tool, if needed?
  4. What is the best place to mount the camera in order to track the position of the marker?

Any help and advice is greatly appreciated!

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Hey, I'm also doing similar works on robot polishing. I want to use PCL to generate a mesh like file for the depth information. But I could't think of a way to generate the trajectory. I wonder if you get any luck with your projects?

thompson104 gravatar image thompson104  ( 2017-07-23 20:13:58 -0500 )edit