Title: Real-time vision-based controller for delta robots

Authors: Ali Sharida; Iyad Hashlamon

Addresses: Mechanical Engineering Department, Palestine Polytechnic University, Hebron, Palestine ' Mechanical Engineering Department, Palestine Polytechnic University, Hebron, Palestine

Abstract: This paper investigates two real-time vision-based control algorithms for delta robots. The first one aims to enable the robot to track different objects based on their colours and shapes. This algorithm does not need any initial calibration. Instead, it depends on the least squares algorithm (LSA) to generate the required transformation matrixes. Also, it is implemented on a standalone controller with no additional time complexity added to the main controller. The second one is a self-calibrating human hand gesture tracking algorithm, which can perform automatic calibration and generates transformation matrixes automatically based on the initial measurements of the user's body. The algorithms are designed, implemented, and scheduled in a real-time manner. The results show that these algorithms can track fast-moving objects effectively regardless of the initial configuration of the robot. They provide important solutions for common problems related to visual servoing such as field of view and calibration.

Keywords: vision-based control; real-time control; delta robot; visual servoing; hand gestures tracking.

DOI: 10.1504/IJISTA.2021.121321

International Journal of Intelligent Systems Technologies and Applications, 2021 Vol.20 No.4, pp.271 - 295

Accepted: 29 Sep 2021
Published online: 04 Mar 2022 *

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