Control Algorithm for an Industrial Robotic Arm Using Computer Vision

2015 ◽  
Vol 9 (2) ◽  
pp. 182
Author(s):  
Germán Buitrago Salazar ◽  
Olga Lucía Ramos ◽  
Dario Amaya
Keyword(s):  
Computer Vision ◽  
Control Algorithm ◽  
Robotic Arm

scholarly journals Computer Vision Based Industrial Robotic Arm for Sorting Objects by Color and Height

2020 ◽  
Vol 01 (04) ◽  
pp. 116-122
Author(s):  
Abu Salman Shaikat ◽  
Suraiya Akter ◽  
Umme Salma
Keyword(s):  
Computer Vision ◽  
Production Process ◽  
Production Systems ◽  
Robotic Arm ◽  
Cascade Algorithm ◽  
Manual Sorting ◽  
System Requirement ◽  
Conveyor Belts ◽  
Haar Cascade ◽  
A New Technique

In industrial production systems, manufacturers often face difficulties in sorting different types of objects. Color and height-based sorting which is done manually by human is quite a tedious task and its needs countless time as well. For manual sorting, many workers are required, which can be quite expensive. Moreover, robots that can sort only color or height can’t be effective when there is a need of products with same color with different heights and vice versa. In this paper, a computer vision based robotic sorter is proposed, which is capable of detecting and sorting objects by their colors and heights at the same time. This work isn’t done before as height sorting of same shapes is a new technique, which is done with color sorting techniques by computer vision. It is equipped with a robotic arm having 6 degree of freedom (DOF), by which it picks up and then place objects according to its color and height, to a predetermined place as per the production system requirement. A camera with the computer vision software detects various colors and heights. Haar Cascade algorithm has been used to sort the products. This multi-DOF robotic sorter can be a remarkably useful tool for automating the production process completely, where multiple conveyor belts are used, which can reduce time complexity as well. In the proposed system, the efficiency of color and height sorting is around 99%, which proves the efficiency of our system. The overall improvement in the efficiency of the production process can be significantly enhanced by using this system.

scholarly journals A kinematic control algorithm for blasthole drilling robotic arm in tunneling

2017 ◽  
Vol 20 (K5) ◽  
pp. 13-22
Author(s):  
Thai Hong Nguyen ◽  
Thai Quang Nguyen
Keyword(s):  
Control Algorithm ◽  
Robotic Arm ◽  
Underground Construction ◽  
Robotic Arms ◽  
Kinematic Control ◽  
Typical Method

The most typical method of tunneling in complicated geographical conditions is still blasthole drilling. To improve the efficiency of the work, Vietnam and several other countries have used drilling devices fitted with self-propelled hydraulic seven-link robotic arms which can also be manually controlled to modernize the drilling and blasting processes and improve the accuracy of the work. The task of controlling the robotic arm to automatically drill the holes exactly as specified in the passport of blasting prepared by geotechnical and underground construction engineers requires a control algorithm for the controller of the robot. The matter will be clearly presented in this article.

Induced virtual environment for control of a manipulator designed for working with radioactive materials

2021 ◽  
Vol 9 (1) ◽  
pp. 32-41
Author(s):  
Alexey Sergeev ◽  
Victor Titov ◽  
Igor Shardyko
Keyword(s):  
Computer Vision ◽  
Virtual Reality ◽  
Virtual Environment ◽  
Human Machine Interface ◽  
Robotic Arm ◽  
Radioactive Materials ◽  
End Effector ◽  
Machine Interface

This article discusses the control issues of a robotic arm for a hot cell based on the induced virtual reality methodology. A human-machine interface based on the virtual reality is presented, comprising a set of interactive features, designed to construct trajectories, along which the end effector of the arm should move. The prospects of computer vision are further considered as means that update the virtual environment state. An experiment to compare two approaches designed to control the robotic arm in virtual environment was carried out.

Control of a Robotic Flexible Endoscope Holder for Laparoscopic Surgery

2021 ◽  
Vol 15 (1) ◽  
Author(s):  
Yang-Cheng Huang ◽  
Chia-Hao Tsai ◽  
Po-Chih Shih ◽  
Ching-Yuan Chen ◽  
Ming-Chih Ho ◽  
...  
Keyword(s):  
Control Algorithm ◽  
Impedance Control ◽  
Kinematic Model ◽  
Flexible Endoscope ◽  
Robotic Arm ◽  
Matlab Simulation ◽  
Endoscopic Image ◽  
Endoscope Holder ◽  
Kinematic Relationship ◽  
Image Center

Abstract In this paper, we present an integrated robotic arm with a flexible endoscope for laparoscopy. The endoscope holder is built to mimic a human operator that reacts to the surgeon's push while maintaining both the incision opening through the patient's body and the center of the endoscopic image. An impedance control algorithm is used to react to the surgeon's push when the robotic arm gets in the way. A modified software remote center-of-motion (RCM) constraint formulation then enables simultaneous RCM and impedance control. We derived the kinematic relationship between the robotic arm and line of sight of the flexible endoscope for image center control. Using this kinematic model, we integrated the task control for RCM and surgeon cooperation and the endoscope image centering into a semi-autonomous system. Implementation of the control algorithm with both matlab simulation and the HIWIN RA605-710 robotic arm with a MitCorp F500 flexible endoscope demonstrated the feasibility of the proposed algorithm.

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