The week's pick
Random Articles
Reseach Article
Vision System via USB for Object Recognition and Manipulation with Scorbot-ER 4U
| International Journal of Computer Applications |
| Foundation of Computer Science (FCS), NY, USA |
| Volume 56 - Number 18 |
| Year of Publication: 2012 |
| Authors: Alejandra Cruz Bernal, Gilberto Moreno Aguilar |
10.5120/8998-3174
|
Alejandra Cruz Bernal, Gilberto Moreno Aguilar . Vision System via USB for Object Recognition and Manipulation with Scorbot-ER 4U. International Journal of Computer Applications. 56, 18 ( October 2012), 10-15. DOI=10.5120/8998-3174
Abstract
Through this paper presents the development of a controller for a Scorbot Er-4udidactic manipulator, using a vision system communicating via the USB port. Considerate that nowadays, robotics is an essential element for the automatization in manufacturing process. As particular advantage over other systems, failure to use interfaces that involves development of additional hardware controller itself. Also, should the question arise, of improve a new form of generate trajectories throughMinimum Euclidian Distance (MED). This results yielded handling objects, plus the ability to perceive the environment through the artificial vision system using image processing and MED, in order to generate information elements surrounding the manipulator, allowing the robot classify objects in your workspace, establishing a fine line between reachable and skilful.
References
- Tsai, L. W. , "Robot analysis: the mechanics of serial and parallel manipulators" Wiley Interscience, John Wiley & Sons, Inc. pp. 21–109, 1999.
- Intelitek ®, "Scorbot-Er 4u, User Manual", Copyright ©2001 Intelitek ® Inc. Catalog #100343 Rev. B. September 2001.
- The MATLAB Toolbox for the IntelitekScorbot (MTIS),http://www. usna. edu/Users/weapsys/esposito/scorbot. Matlab/
- Sezeleski. R. , "Computer Vision, Algorithms and Applications", ©2010 Springer, http://szeliski. org/Book/
- Galnares, J. , http://www. prototipando. es/proyectos/73-cortadora-laser-scorbot?showall=&start=2.
- Almanza, O. D. , "Implementación de la estrategia de juego Tic-Tac-Toe para la interacción con un brazo robótico", Avances en Inteligencia Artificial, ISSN: 1870-4069, IPN.
- Sobrado, M. E. ,"Sistema de visión artificial para el reconocimiento ymanipulación de objetos utilizando un brazo robot" . Tesis PUCP. http://tesis. pucp. edu. pe/repositorio/bitstream/handle/123456789/68/sobrado_eddie_vision_artificial_brazo_robot. pdf?sequence=2.
- Soto, M. C. E, "sistema de guía dinámico para brazo robot Scorbot Er-IX mediante visionartificial",http://cybertesis. ubiobio. cl/tesis/2006/soto_c/html/index-frames. html.
- Verma, A. , Vivek, A. D. , "End-effector Position Analysis of SCORBOT-ER Vplus Robot", International Journal of Smart Home, Vol. 5,No. 1, January 2011.
- Suthakon, J. , Chirikjan G. S. , "A new inverse kinematics algorithm for binarymanipulator with a many actuators", Advance Robotics, Vol. 15, No. 2. Pp. 225-244 (2001).
- Bertram, D. , Kuffner, J. , Dillmann. R. , and Asfour, T. , "Aintegrated approach to kinematic inverse and path planning for redundant manipulators", Proceedings of the 2006International Conference in Robotics and Automation, Orlando, Florida, (2006), pp. 1874-1878.
- The Camera Calibration Toolbox, http://www. vision. caltech. edu/bouguetj/calib doc/
Index Terms
Keywords