Contents:
Introduction
Feedback of the control of the robot arm
Control of the robot arm using the points defined via image processing
Conveyor Band and CCD camera system
Grabber Card digitializes the images without any software to be fast
Image Processing via Classical Moments
Whereas;
and
If we calculate the central moments to the third order
via using the equation (1), we have the following results:
(1)
where,
(8)
(9)
(10)
(11)
r is the length of the vector from origin to pixel (x ,y ) and θ is the angle between vector r and the x -axis in the counter-clockwise direction. x2+y2=1, x =r cos θ y=r sin θ.
Then the discrete version of the Fourier-Mellin Moments and Orthogonal Fourier-Mellin moments can be defined as:
Conveyor
Drums
Control Panel
Place where objects are passing
Application of Hu moments on a image recognition experimental system:
Motor # 3
Motor # 2
Motor # 1
Link # 1
Link # 2
Link # 3
Link # 4
Gripper
A Robot Arm with Five Degree of Freedom
The body and the joints of the manipulator are all made from aluminium due to light weight and toughness of this material. For reducing the speed and also to increase the
torques of the motors to desirable level, gear reduction mechanisms have been used for the actuators of the joints.
Coordinates Located into the links
Table 1
Figure 1
After finding the solution matrices, program executes for choosing the best solution for the manipulator control. The criteria of choosing the best one are, searching the easiest and shortest movement of the manipulator.
In this study, the aim is obtaining a path control algorithm by using inverse kinematics method. As told before, by this method manipulator’s joints angles are determined from the required target given in Cartesian coordinates. And after these steps the main control program starts to execute by using joint base control algorithms.
Figure 2
Figure 3
Figure 4
Figure 5
Θ(t)=a0 + a1 t + a2 t2 + a3 t3
and the angular velocity can be defined as,
Θ’(t)= a1 + 2 a2 t + 3 a3 t2
If the coefficients can be determined correctly then the trajectory following will be possible.
After determining these coefficients, we can generate the control algorithm of the manipulator by applying the time depended angular velocity equation.
Here Dθ represents the amount of the way that the manipulator takes among this trajectory, and also Dt represents the time that the joint needs for reaching the end point. Dt can easily be computed by the division of the (Dθ/ w) where w is in (0/s) format.
Table 2
Figure 6 Path for object A
(in XY plane)
Figure 7 Path for object A
(in XZ plane)
In this study there are two objects with their own placing points after picking from the conveyor band. Thus there are two paths determined for the manipulator and the path following features are observed for each of them. Results can be seen in figures below.
Conclusion
Conclusion
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