Planning for Optimal Robot Trajectory for Visual Inspection

Abstract

Automatic inspection is common in mass production inspections where robot manipulators are chosen to perform visual inspection to avoid inconsistency in manual inspection. The purpose of this work is to estimate the optimum workspace where a robot manipulator could perform visual inspection task onto a work piece where a camera is attached to the end effector. While maneuvering through the programmed path, the robot will stop at a predefined point so that an image could be captured where the ideal parameter for the coefficient correlation (CC) template matching was computed. The template distance selection, the threshold adjustment and the average image processing speed for CC were determined. The pseudo codes for the planned path are derived from the number of tool transit points, the delay time at the transit points, the process cycle time, and the configuration space that the distance between the tool and the work piece. It was observed that express start and swift end are acceptable in a robot program because applicable works usually in existence during these moments. However, during the mid-range cycle, there are always practical tasks programmed to be executed. For that reason, it is acceptable to program the robot such as that speedy alteration of actuator displacement is avoided. A dynamic visual inspection system using a robot manipulator seems practical where an optimal distance between an object face and a camera is determined in priori using the CC method.