Application of Microcontroller-Based Multipath Servos in Industrial Robot Control Systems

Hu, Ruiming

doi:10.1155/2023/7235120

Cited by 2 publications

(1 citation statement)

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“…In a combination with a vision system using CMOS camera, this delta robots could pick up a desired object, classified by color, and then place it in the same color slots and avoid obstacles at the same time. Additionally, apart from the Arduino microcontroller, as a single standalone robot controller, low-cost control firmware and hardware have been implemented on 1) an embedded system using an ESP32 microcontroller for signal generation along with an Arduino microcontroller for position generation for controlling 4-DOF planar manipulator [67] and 2) an embedded system uniting a microcontroller with the PCA9685 chip as a core controller [68] that was potentially applicable for multiple-servo control. Nevertheless, most of the low-cost delta robots still were lacked a synchronous motion controller of three parallel links that can perform fast pick-and-place motion as well as an integration of fast visualservo system for the real-time pick-and-place operation.…”

Section: Introductionmentioning

confidence: 99%

Visual Servo Kinematic Control of Delta Robot using YOLOv5 Algorithm

Yamtuan,

Radomngam,

Prempraneerach

2023

Journal of Robotics and Control

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Industrial delta robots with motion-and vision-base controllers, providing high-precision and fast/flexible motion, normally come with high cost and complex software. Low-cost delta robots with vision solution could be beneficial to vast industries to increase productivity and to reduce labor cost. A delta robot using a low-cost motion controller and an open-source vision system is developed to accomplish real-time visual servoing with high motion accuracy. In the low-cost motion controller, three parallel links’ upper-arm angles, computed from inverse kinematics for a given desired target position by a high-level computer, are used as reference position commands for three AC-motor drives. A low-level Arduino microcontroller is employed to convert these links’ angles to high-frequency pulses and on-off signals for synchronously controlling three motor angles and direction. Experimental results of a point-to-point motion tracking exhibit high-precision repeatability. Synchronous pulse generation from Arduino microcontroller and structural misalignments of parallel links are major challenges for achieving high motion accuracy. For the vision-based system, the YOLOv5 algorithm is implemented along with a Python GUI Application. Then, the visual-servo performance is evaluated on localization accuracy and recognition rate of 3-color objects. However, a partial object occlusion can reduce the visual classification rate. A sorting task of 4-category medicine boxes demonstrate a high-speed pick-and-place operation using the low-cost visual-servo system of this delta robot. Therefore, integration of low-cost visual servoing with this delta robot can revolutionize various industries, like automobile, pharmaceutical, and food sectors, in separating, sorting and packing applications.

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Section: Introductionmentioning

confidence: 99%