Robot manipulator utilizing image based visual servoing
Date of Publication
2005
Document Type
Bachelor's Thesis
Degree Name
Bachelor of Science in Manufacturing Engineering and Management
College
Gokongwei College of Engineering
Department/Unit
Manufacturing Engineering and Management
Thesis Adviser
Lord Kenneth M. Pinpin
Defense Panel Chair
Homer S. Co
Defense Panel Member
Arthur Pius P. Santiago
Marlon Luis M. Musngi
Abstract/Summary
Most of the robots in the industry perform tasks by using a pre-programmed sequence of events. The Pegasus Arm, which forms part of the Computer Integrated Manufacturing (CIM) system, was no exemption. With the old set-up, only a single position was allowed and locators had to be employed to secure the pellet in its right place. Hence, visual servoing is needed. Visual servoing involves the concept of a closed loop position control, wherein feedback can be received from external disturbances such as an abrupt change in the position and orientation of the object as the vision and motion are simultaneously run. There were two types of visual servoing these are position based and image based. Position based uses Cartesian coordinates and seeks for the image error function.
The group used one camera that is mounted in the end-effector of Pegasus robot to perform image extraction by designing a filter that will isolate the feature of the blue pellet from its surroundings. Robot controller circuit had been made in order to manipulate the six motors. Robot Toolbox in Mathlab 6.5 was used in control and simulation of the robot arm. Thus, Uncalibrated Visual Servoing algorithm was done in the said environment.
With the implementation of image based visual servoing, a more humanlike robot manipulation was achieved, wherein the gripper could position itself in any pellet orientation within the pick-up station even with the absence of locators and under normal room lighting. Also, the robot arm could follow moving object as long as the movement of the pellet is in the camera's range of sight.
Abstract Format
html
Language
English
Format
Accession Number
TU15293
Shelf Location
Archives, The Learning Commons, 12F, Henry Sy Sr. Hall
Physical Description
123, [163] leaves : ill. (some col.) ; 28 cm.
Keywords
Robots--Control systems; Computer vision; Servomechanisms; Calibration; Cameras
Recommended Citation
Gupit, W. B., Paras, C. C., Querol, V. S., Rillera, J. O., & Tan, D. S. (2005). Robot manipulator utilizing image based visual servoing. Retrieved from https://animorepository.dlsu.edu.ph/etd_bachelors/14578
