Title: Controlling the position of jointed arm robot using image processing for pick and place operations

Authors: Ch.R. Vikram Kumar, P. Bharath Arun

Addresses: Department of Mechanical Engineering, N.B.K.R. Institute of Science and Technology, Vidyanagar, Nellore District, Andhra Pradesh – 524 413, India. ' School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore 639798, Singapore

Abstract: This paper shows a glimpse of an innovative application of image processing in advanced robots, which are capable of making their own decisions in order to be truly autonomous in dynamic environments. In this work, a new algorithm is developed to control jointed arm robot for pick and place operations using image processing. A simple web camera is used to control the shoulder arm within the work volume by taking the images of two reference points on the shoulder arm and object as third reference point. Computer process the images and determine the centre distances between the shoulder arm reference points and the object. Based on difference in the centre distances, the computer will actuate the shoulder arm towards the object until the difference becomes zero. The upper and fore arms are actuated using reverse kinematics. The algorithm is evaluated in simple computer controlled jointed arm robot for pick and place operations. The complete details regarding construction of the robot and algorithm for controlling through image processing are presented in this paper.

Keywords: jointed arm robots; image processing; pick and place operations; computer vision; robotics; robot vision; robots arms; robot control; autonomous robots; reverse kinematics.

DOI: 10.1504/IJCVR.2011.039209

International Journal of Computational Vision and Robotics, 2011 Vol.2 No.1, pp.34 - 48

Published online: 26 Mar 2011 *

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