Design and Control of Continuum Robot for Using with Solar Cell System

Boonchai, Pattaraphon; Tuchinda, Karuna

doi:10.1145/3387168.3387228

Cited by 2 publications

(1 citation statement)

References 4 publications

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“…The field of robotics has continued to grow tremendously in the last decade as a new research frontier and has demonstrated its relevance and impact in modern applications of industrial automation. These robots are especially useful in conducting repetitive chores, in hazardous work environment and in numerous industrial operations to mention just but a few [1]- [4].…”

Section: Introductionmentioning

confidence: 99%

Enhancing Palletizing and Shape Drawing Using Image Processing on Parallel and Serial Link Manipulators

Kariuki,

Wanjau,

Muchiri

et al. 2023

Preprint

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The integration of robotics and image processing has led to the realization of robot autonomy in dynamic environments through the provision of visual feedback. This paper presents the application of parallel and open-link robots in palletizing and shape drawing tasks as enhanced by visual feedback from image processing. In determining the set of joint angles that could be used to reach the desired position and orientation of the end effector, the geometric approach in which the spatial geometry of the robotic arms was decomposed into several plane geometry problems was employed. Image processing techniques were used to enhance the performance of the robotic manipulators. In one approach, Color-based segmentation was used to distinguish between different objects in the workspace by using predefined color markers as references in the L*a*b color space. Classification of each pixel in the workspace image was then done by calculating the Euclidean distance between that pixel and a predefined color marker. A second approach employed Edge detection to identify the boundaries of objects within the workspace image by employing the Hough Transform mathematical model to detect the abrupt changes in the image brightness pixel-wise. The pixel locations from Hough were then sorted sequentially to outline the detected object. The integration of image processing with the robotic tasks was expected to improve the precise detection of the position of objects as well as the outline of geometric shapes. The incorporation of visual feedback allowed for dynamic robot manipulation in which prior knowledge of the workspace was not requisite. This led to improved pick and place as well as shape detection as applied in palletizing and shape drawing tasks actuated by the parallel and serial link manipulators, respectively.

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Section: Introductionmentioning

confidence: 99%

Enhancing Palletizing and Shape Drawing Using Image Processing on Parallel and Serial Link Manipulators

Kariuki,

Wanjau,

Muchiri

et al. 2023

Preprint

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Image Servo Tracking of a Flexible Manipulator Prototype with Connected Continuum Kinematic Modules

Hsu

Nguyen

et al. 2022

Actuators

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This paper presents the design and implementation of a flexible manipulator formed of connected continuum kinematic modules (CKMs) to ease the fabrication of a continuum robot with multiple degrees of freedom. The CKM consists of five sequentially arranged circular plates, four universal joints intermediately connecting five circular plates, three individual actuated tension cables, and compression springs surrounding the tension cables. The base and movable circular plates are used to connect the robot platform or the neighboring CKM. All tension cables are controlled via linear actuators at a distal site. To demonstrate the function and feasibility of the proposed CKM, the kinematics of the continuum manipulator were verified through a kinematic simulation at different end velocities. The correctness of the manipulator posture was confirmed through the kinematic simulation. Then, a continuum robot formed with three CKMs is fabricated to perform Jacobian-based image servo tracking tasks. For the eye-to-hand (ETH) experiment, a heart shape trajectory was tracked to verify the precision of the kinematics, which achieved an endpoint error of 4.03 in Root Mean Square Error (RMSE). For the eye-in-hand (EIH) plugging-in/unplugging experiment, the accuracy of the image servo tracking system was demonstrated in extensive tolerance conditions, with processing times as low as 58±2.12 s and 83±6.87 s at the 90% confidence level in unplugging and plugging-in tasks, respectively. Finally, quantitative tracking error analyses are provided to evaluate the overall performance.

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Design and Control of Continuum Robot for Using with Solar Cell System

Cited by 2 publications

References 4 publications

Enhancing Palletizing and Shape Drawing Using Image Processing on Parallel and Serial Link Manipulators

Enhancing Palletizing and Shape Drawing Using Image Processing on Parallel and Serial Link Manipulators

Image Servo Tracking of a Flexible Manipulator Prototype with Connected Continuum Kinematic Modules

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