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Posted by on October 28, 2005, 4:53 pm
Hi folks,
My name is John Daly and I work for a company called Neptec in Ottawa,
Canada. We make 3d vision systems that we use for tracking the pose of
objects through space.
Recently, we've been looking into buying a 6 degree of freedom robot
manipulator to use to help with our testing. We want to mount the
object we're tracking on our motion controller (which will take the
object through some trajectory that we specify.) We'll then use our
vision system to estimate the pose of the object as it moves in space.
We are doing this part now.
What we'd like to use a robot for is to feed the estimated object pose
to the robot and have its end effector track the object as it moves,
without the robot actually knowing the object's trajectory ahead of
time. (Picture a satellite moving through space, and a robot
manipulator following the motion.) This will be useful for
demonstrating the viability of our vision system as a useful sensor for
object tracking.
I've been tasked with looking around and finding a suitable robot
platform for this kind of thing. But, I really don't know anything
about industrial robots and their controllers. We need a robot that can
support a paylod of up to 50 lbs, and has a reach of around 2 m. I've
talked to a few companies that sell robots that would meet the payload
requirements. But, based on what I've heard from people, no one seems
to think there would be a way to send the measured pose to the robot as
it's computed and have the robot track the object as it moves. It seems
that a lot of these industrial system involve giving the robot a
trajectory ahead of time and then letting it execute that.
So, I'm wondering if anyone could point me in the direction of some
companies or products that would be able to provide something to
accomplish what it is we're looking to do.
I really appreciate the help!
Sincerely,
-John Daly
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Posted by Mike Ross on October 28, 2005, 6:36 pm
jmdaly@gmail.com wrote:
> Hi folks,
>
> My name is John Daly and I work for a company called Neptec in Ottawa,
> Canada. We make 3d vision systems that we use for tracking the pose of
> objects through space.
>
[snip]
>
> I've been tasked with looking around and finding a suitable robot
> platform for this kind of thing. But, I really don't know anything
> about industrial robots and their controllers. We need a robot that can
> support a paylod of up to 50 lbs, and has a reach of around 2 m. I've
> talked to a few companies that sell robots that would meet the payload
> requirements. But, based on what I've heard from people, no one seems
> to think there would be a way to send the measured pose to the robot as
> it's computed and have the robot track the object as it moves. It seems
> that a lot of these industrial system involve giving the robot a
> trajectory ahead of time and then letting it execute that.
I've controlled both Puma and Robotics Research robots with real-time
commands. Admittedly, the real-time commanding of the Puma uses a special
interface actually designed for real-time modifications to a preset
directory, but you can make it work. Each robot will have some language
specified wherein you can write your driver routines to accept and issue
your commands.
Biggest problem in your area is many electric robots of the size you want
don't have powerful enough wrists to hold a 50 lb payload in any
orientation, especially for a significant CG offset. You may have to
consider hydraulics.
--
Mike Ross
Instructions said Win98 or better, so I used Linux.
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Posted by Padu on October 28, 2005, 7:46 pm
John wrote:
> Hi folks,
> My name is John Daly and I work for a company called Neptec in Ottawa,
> Canada. We make 3d vision systems that we use for tracking the pose of
> objects through space.
> Recently, we've been looking into buying a 6 degree of freedom robot
> manipulator to use to help with our testing. We want to mount the
> object we're tracking on our motion controller (which will take the
> object through some trajectory that we specify.) We'll then use our
> vision system to estimate the pose of the object as it moves in space.
> We are doing this part now.
<snip>
I've seen a video of a robot (a puma actuator if I'm not mistaken) that does
exactly what you are describing, it plays ping pong against humans. It uses
a set of fixed cameras in the room to calculate the trajectory of the ball
in 3D real time and then move the end effector (and the racquet) to the
calculated position the ball is expected to be.
http://mitpress.mit.edu/catalog/item/default.asp?ttype=2&tidB18
This is what I found online, but only because I was sloppy. You will be able
to probe further.
Cheers
Padu
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Posted by Moe_Larry_Curly on October 28, 2005, 7:59 pm
John
At the risk of appearing predjudiced (well, I AM, actually), I will say that
Staubli www.staubli.com 864-433-190 Duncan SC USA is your best bet. They
have done many, many applications of tracking trajectory data being sent to
the robot controller from another computer in real time. With their CS8
controller, it has the capability of an almost infinite quantity of parallel
processing tasks and blazingly fast speed for a robot processor. On top of
that, it would be difficult to find another robot that can deliver, out of
the box, a higher path accuracy or point location repeatability. Nothing on
the planet can touch it.
For ~2m reach and 50 lbs payload (you need to define this better), you would
have to consider something like their RX170 model. It ain't cheap.
Regards,
Moe & The Boys
> Hi folks,
> My name is John Daly and I work for a company called Neptec in Ottawa,
> Canada. We make 3d vision systems that we use for tracking the pose of
> objects through space.
> Recently, we've been looking into buying a 6 degree of freedom robot
> manipulator to use to help with our testing. We want to mount the
> object we're tracking on our motion controller (which will take the
> object through some trajectory that we specify.) We'll then use our
> vision system to estimate the pose of the object as it moves in space.
> We are doing this part now.
> What we'd like to use a robot for is to feed the estimated object pose
> to the robot and have its end effector track the object as it moves,
> without the robot actually knowing the object's trajectory ahead of
> time. (Picture a satellite moving through space, and a robot
> manipulator following the motion.) This will be useful for
> demonstrating the viability of our vision system as a useful sensor for
> object tracking.
> I've been tasked with looking around and finding a suitable robot
> platform for this kind of thing. But, I really don't know anything
> about industrial robots and their controllers. We need a robot that can
> support a paylod of up to 50 lbs, and has a reach of around 2 m. I've
> talked to a few companies that sell robots that would meet the payload
> requirements. But, based on what I've heard from people, no one seems
> to think there would be a way to send the measured pose to the robot as
> it's computed and have the robot track the object as it moves. It seems
> that a lot of these industrial system involve giving the robot a
> trajectory ahead of time and then letting it execute that.
> So, I'm wondering if anyone could point me in the direction of some
> companies or products that would be able to provide something to
> accomplish what it is we're looking to do.
> I really appreciate the help!
> Sincerely,
> -John Daly
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Posted by Moe_Larry_Curly on October 28, 2005, 8:04 pm
sorry, typing too fast. That's 864-433-1980
> Hi folks,
> My name is John Daly and I work for a company called Neptec in Ottawa,
> Canada. We make 3d vision systems that we use for tracking the pose of
> objects through space.
> Recently, we've been looking into buying a 6 degree of freedom robot
> manipulator to use to help with our testing. We want to mount the
> object we're tracking on our motion controller (which will take the
> object through some trajectory that we specify.) We'll then use our
> vision system to estimate the pose of the object as it moves in space.
> We are doing this part now.
> What we'd like to use a robot for is to feed the estimated object pose
> to the robot and have its end effector track the object as it moves,
> without the robot actually knowing the object's trajectory ahead of
> time. (Picture a satellite moving through space, and a robot
> manipulator following the motion.) This will be useful for
> demonstrating the viability of our vision system as a useful sensor for
> object tracking.
> I've been tasked with looking around and finding a suitable robot
> platform for this kind of thing. But, I really don't know anything
> about industrial robots and their controllers. We need a robot that can
> support a paylod of up to 50 lbs, and has a reach of around 2 m. I've
> talked to a few companies that sell robots that would meet the payload
> requirements. But, based on what I've heard from people, no one seems
> to think there would be a way to send the measured pose to the robot as
> it's computed and have the robot track the object as it moves. It seems
> that a lot of these industrial system involve giving the robot a
> trajectory ahead of time and then letting it execute that.
> So, I'm wondering if anyone could point me in the direction of some
> companies or products that would be able to provide something to
> accomplish what it is we're looking to do.
> I really appreciate the help!
> Sincerely,
> -John Daly
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>
> My name is John Daly and I work for a company called Neptec in Ottawa,
> Canada. We make 3d vision systems that we use for tracking the pose of
> objects through space.
>