The basic components of the computer intelligence for adept six-300 robot

摘要

The program Tobject planning the movement of the Adept Six-300 robot is presented in this work¹. Location of the manipulation object, observed by the two cameras Edimax IC-7100P, is calculated by this program. The program is one of the most important components of the computer intelligence of this robot. The method of determining the geometric parameters occurring in the equations of the kinematics of the gripper and manipulation object was presented. The program Tobject geometric calibrates of cameras using an algorithm that does not rely on the calculation of the projection matrix or the fundamental matrix. Therefore, these algorithms are faster and more accurate than the algorithms that use the projection matrix and the fundamental matrix. On the basis images of the manipulation object, obtained by these two cameras, the program Tobject calculates the trajectory of the gripper movement to this object. In discretization point of the trajectory this program calculates coordinates the joint variables of the manipulator. In the calculations, multiple solutions of inverse kinematics are taken into account, including solutions in singular configurations. Among these the multiple solutions is a chosen solution minimizing the square indicator of quality. The program Tobject is installed in the server that cooperates with robot controller and cameras, by Ethernet net.