Computer vision approach for controlling educational robotic arm based on object properties

Abstract

This research presents an autonomous robotic frame work for academic, vocational and training purpose. The platform is centred on a 6 Degree Of Freedom (DOF) serial robotic arm. Two on-board cameras develop a computer vision system for detection and autonomous object/target manipulation placed randomly on a target surface and controls an educational robotic arm to pick it up and move it to a predefined destination. The computer vision is initially used to identify the colour and shape of the object. The system applies Centre-Of-Mass based computation, filtering and colour segmentation algorithm to locate the target and the position of the robotic arm. The proposed platform finds its potential to teach technical courses (like Robotics, Control, Electronics, Image-processing and Computer vision) and to implement and validate advanced algorithms for object manipulation and grasping, trajectory generation, path planning, etc. Experimental results demonstrated the effectiveness and robustness of the system.

Recycling and Updating an Educational Robot Manipulator with Open-Hardware-Architecture

“…Yen et al [5] developed a low-cost collaborative robot that employs a virtual force sensor and stiffness control to safety collision detection and low-precision force control. The authors of [6][7][8] presented educational robot manipulators, whose movements are carried out by means of radio control servomotors that have controllers that cannot be modified. The manipulator in [6] is operated from a graphical interface, while the robotic arm in [7] has two cameras to detect, collect, and move objects.…”

“…The authors of [6][7][8] presented educational robot manipulators, whose movements are carried out by means of radio control servomotors that have controllers that cannot be modified. The manipulator in [6] is operated from a graphical interface, while the robotic arm in [7] has two cameras to detect, collect, and move objects. On the other hand, Cocota et al [8] described the design and development of a 4-DOF manipulator with a low cost of approximately USD 150.…”

Development of a Color Object Classification and Measurement System Using Machine Vision

“…In addition, Rai et al proposed a computer vision system for the detection and autonomous manipulation of objects on a target surface. (11) Through an iterative training algorithm, a robotic arm with six degrees of freedom (DOF) can pick up objects and place them toward a destination. The system applied a center-of-mass-based computation, using a filtering and color segmentation algorithm, to locate both the target and position of the robotic arm.…”

Robotic Arm System with Computer Vision for Colour Object Sorting

“…In PTP trajectory, the point where the arm picks up an object and the point where it releases the object is known. There are very few industrial robots are embedded with intelligent decision-making system (Rai, Rai, & Rai, 2014). In order to embrace the Industry 4.0, where all processes within the industry are fully automated for mass customization, a robot that exhibits intelligent behaviour as human is needed.…”