Title: Implementation and evaluation of calibration-less visual feedback controller for a robot manipulator DOBOT on a sliding rail

Authors: Fusaomi Nagata; Kei Furuta; Kohei Miki; Maki K. Habib; Keigo Watanabe

Addresses: Graduate School of Engineering, Sanyo-Onoda City University, 1-1-1 Daigaku-dori, Sanyo-Onoda, 756-0884, Japan ' Graduate School of Engineering, Sanyo-Onoda City University, 1-1-1 Daigaku-dori, Sanyo-Onoda, 756-0884, Japan ' Graduate School of Engineering, Sanyo-Onoda City University, 1-1-1 Daigaku-dori, Sanyo-Onoda, 756-0884, Japan ' Mechanical Engineering Department, School of Sciences and Engineering, American University in Cairo, AUC Avenue, P.O. Box 74, New Cairo, 11835, Egypt ' Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushima-naka, Kita-ku, Okayama, 700-8530, Japan

Abstract: Image processing and computer vision systems are adequate to enhance the potential functions of industrial robots. However, besides complex implementation, it is required to do time-consuming and complex calibrations between the robots and cameras before running it. This paper first introduces the design of a compact CNN to estimate objects' orientation. Then, the paper presents a desktop-sized pick and place robot while implementing a pixel-based visual feedback (PBVF) controller to move to target objects autonomously. The response of the VF control is quantitatively evaluated by counting control actions until the end-effector reaches the object position. A sliding rail is further considered to enable the robot to work in a broader working space. The PBVF controller is extended to utilise the sliding rail by dealing with the direction of the sliding rail as the robot's y-axis. Finally, the implementation of the PBVF controller and the effectiveness of the robot system with the sliding rail are presented through pick and place experiments of objects randomly placed on a table.

Keywords: pixel-based visual feedback control; convolutional neural network; CNN; pick and place; desktop-sized robot; sliding rail.

DOI: 10.1504/IJMA.2022.123893

International Journal of Mechatronics and Automation, 2022 Vol.9 No.3, pp.142 - 150

Received: 28 Oct 2021
Accepted: 25 Jan 2022
Published online: 04 Jul 2022 *

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