标题：Design of a PC-based Open Industrial Robot Control System Integrated with Real-Time Machine Vision
作者：Liu, Yanan; Hu, Tianliang; Ni, Hepeng; Zhang, Chengrui; Lin, Bao; Judd, Euan
通讯作者：Zhang, CR;Zhang, CR
作者机构：[Liu, Yanan; Judd, Euan] Univ Bristol, Bristol Robot Lab, Bristol BS16 1QY, Avon, England.; [Hu, Tianliang; Ni, Hepeng; Zhang, Chengrui; Lin, Bao] S 更多
会议名称：1st World Robot Conference (WRC) / Symposium on Advanced Robotics and Automation (SARA)
会议日期：AUG 16, 2018
来源：2018 WRC SYMPOSIUM ON ADVANCED ROBOTICS AND AUTOMATION (WRC SARA)
摘要：This paper presents a new industrial robot control system integrated with real-time image processing based on a Windows PC. This enables both machine vision and robot control tasks to be carried out on a single general-purpose computer rather than using two separate systems to perform different tasks. To accomplish this, a three-layer software structure is developed along with a series of standard peripheral devices in the hardware layout. Real-time performance of the system is tested and we demonstrate the system on a DELTA parallel manipulator. Experimental results show that the manipulator can pick up 120 objects on a moving conveyor per minute. This work demonstrates the feasibility of integrating real-time machine vision tasks with robot control tasks without dedicated hardware.