Implementation of a Robotic Arm with 3D Vision for Shoes Glue Spraying System

摘要

Traditionally, the 3D vision guidance and robotic arm are integrated for a stationary object recognition and grasping. In the paper, an automatic glue spray system of shoes is developed for the cementing process. The system consists of a structured light module and a glue spray robot. In the beginning, the structured light scans a shoe from different angles to obtain the partial 3D model. And, a whole shoe model is created. On the other hand, a camera takes pictures of a shoe from different angles to detect the target area. In the target area, the normal vector is calculated by 3D point cloud data. And, the normal vector provides the information to the glue spray robot. Then, the path planning is given and the cementing process is well done.