Design and Control of Three-Robot Visual Servoing Mechatronics System

Abstract

The designed and built cooperating visual servoing behavior in seeing and catching objects in the space. The robotic consists of three robots that follow special procedure visual servoing system can be compared with a human to catch an object with a predefined color somewhere in the vision in observing objects, figure 1. robot workspace. The robotic set consists of a hand robot and A cooperative robotic system is a set of robots that two eye robots; two eye robots have been designed and made communicate with each other and adapt their situations to see the environment and the hand robot has been designed and made to catch the object. The location of the object in the through received data from other robots, and then reflect space is found according to the view angles of the eye robots suitably a predefined event. They can be divided into three and then the hand robot moves and catches the object. The different types: seven DOF mechatronics system is controlled through Matlab 1-Independent robot. v6 M-file. In order to connect to the cameras and see the 2-Dependent robot. environment, Matlab Image Acquisition Toolbox has been 3-Commander robot. utilized. After the software receives each frame from one of Being a dependent robot or a commander robot depends on the cameras, it analyzes the frame in image processing unit the situation. The eye robots are controlled independently and finds the object's position in the frame. Then, it controls two eye robots in a way such that the object is followed, and anderen is noodata cotion T he m (th are using the geometry, it finds the object's position and drives independent cooperative robots). The received data from the hand robot's wrist to the object's position in the space in cameras is used to control the hand robot, while the hand order to catch it. robot data are not used to control the eye robots. That's why the hand robot is a dependent robot and the eye robot I INTRODUCTION is a commander.Locating objects is an important problem in manufacturing II THE FEATURES OF THE MECHATRONICS SYSTEM and aerospace. Using radars is a usual method of locating. Usual radars have two major problems; first they can be The built mechatronics set consists of two 2DOF robots as escaped using some materials on the surface and suitable eyes and a 3DOF robot used as a hand. The total 7DOF are geometric design; second, radars become visible to the controlled by 7 stepper motors [1,2]. The motors are object and put themselves in danger while working. They connected to an electronic circuit that receives the work based on the vision of light waves; light waves may commands from a computer and controls the stepper be visible or invisible. A very important feature of these motors based on the commands. A 8052 microcontroller visual-type radars is that no system can escape from them which is programmed by assembly language controls this and if one uses a suitable camera, the object will be circuit. eventually seen. The cameras (visual type radars) can Both links of the hand robot and the lower l...