Utilizing High-Speed 3D Vision for a Commercial Robotic Arm: Direct Integration and the Dynamic Compensation Approach

抄録

Robot vision (2D/3D) is one of the most important components for robotic arm applications, especially for accurate and intelligent manipulation in unstructured working environments. In this study, we focused on the great potential of high-speed 3D vision with frame rates exceeding 500 fps for commercial robotic arm applications. By utilizing a UR10e robotic arm with a newly developed high-speed 3D vision system that is capable of achieving 1,000 fps 3D sensing, we investigated the impact of feedback rate on tracking performance towards a dynamic moving target. The integration of the high-speed 3D vision for robotic arm applications was implemented under the direct and the dynamic compensation approaches. Comparative studies demonstrated that higher feedback rates improve tracking accuracy up to a particular saturation feedback rate, with the dynamic compensation approach reducing tracking error by 70% compared with direct integration.