Integration von Low-Cost-Modulen in Roboter mit Bildverarbeitung/Low-Cost Robot Vision Modules

Robotic assistance systems are complex and expensive systems. For studies on new applications, however, inexpensive and flexible systems that can be modified would be desirable. This article therefore describes how robots can be assembled from low-cost modules and self-constructed axes. It is shown how the robot control for different kinematics can be developed in a modular manner using function blocks according to PLCopen. A gripper with intelligent cameras is constructed for autonomous gripping. Further function blocks for image processing are developed and integrated into the modular robot control. This means that individual axis groups can be controlled, camera images can be evaluated and sequential fuction charts for movement sequences can be programmed with one programming system. First experiments show possibilities and limitations of the approach.