Robot Path Generation by Viewing a Static Scene from a Single Camera

Abstract- In this paper a new method for robot path generation on a plane surface is proposed. As a sensor a single camera mounted on the end-effector of a robotic manipulator is used. Processing an image of a static scene of the environment of the manipulator, where the desired track is contained, the 3D path points are accurately calculated. The accuracy of the calculation is achieved by combining two well-known methods for camera calibration and hand/eye – robot/world calibration. The method was implemented in a PUMA 761 robotic manipulator using a proper program developed in C. Finally the accuracy of the calculation was checked in the same robot using a software application i