Following Moving Objects Using Externally Guided Motion (EGM).

Abstract

This thesis presents a sensor guided system using Externally Guided Motion (EGM) to reduce the delay from new sensor data is available, to the robot initiates its movement. A suggested solution to follow a disc sliding down a ramp is presented. The position of the disc is registered by a camera and transmitted to a computer. The data is processed on the computer before it is forwarded to the robot. Without prediction the robot is approximately 200ms behind the disc. With prediction, the robot is able to follow the disc. EGM has low latency, enabling the robot follow an object moving with non-constant velocity. Even at velocities upwards to 2m/s. Using EGM can give more e ective robot cells and thereby reducing costs in the manufacturing industry.