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Dynamic Compensation Robot with a Newly Developed High-speed Vision Chip

Summary

We demonstrate contour following task under dynamic compensation scheme with a newly developed high-speed Vision Chip developed by Sony and Ishikawa Watanabe Laboratory of the University of Tokyo. Given an arbitrary contour pattern, the industrial robot's trajectory is firstly programmed with sparse teaching points chosen roughly. The compensation module (2-DOFs) under 1,000 Hz visual feedback by the new Vision Chip will then realize real-time motion to keep the target contour always in the center of the image, even under systematic uncertainties such as backlash of the main robot, or external disturbances of the workpiece. By realizing image processing on the new Vision Chip, there is no need to provide a device for image processing.

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Related Work

Ishikawa Watanabe Laboratory, Department of Information Physics and Computing, Department of Creative Informatics,
Graduate School of Information Science and Technology, University of Tokyo
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