BY,

ANJANA ANILKUMARS7 CSEReg no:12142617COLLEGE OF ENGINEERING MUNNAR

OVERVIEW Introduction Concepts Machine vision Working demonstration Advantages and

Disadvantages Applications Conclusion and

Discussions References

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INTRODUCTION

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CONCEPTS

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Getting in to the concepts

• Main function of a robotic manipulator is to pick some object from a fixed position and to place it in some other fixed area

• Basic model of a robot arm consists of

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The servomotor is controlled by a pulse width modulated signal (control signal) from the controller unit

We can either use a SG-5010 servo motor or Tower pro SG-90 servo motor according to the specifications needed

Block diagram

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MACHINE VISION

The process behind

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Acquired image Grey scale image Crop the image and contrast adjustment

IMAGE PROCESSING

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IMAGE PROCESSING

Convert to Binary Image Edge detection Image dilation

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IMAGE PROCESSING

Fill Holes

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IMAGE PROCESSING

Find Bounding Box of each Object

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SOBEL EDGE DETECTION

Performs a 2-D spatial gradient measurement on an image.

Uses a pair of 3x3 convolution masks, one estimating the gradient in the x-direction (columns) and the other estimating the gradient in the y-direction (rows).

A convolution mask is usually much smaller than the actual image and is slid over the image, manipulating a square of pixels at a time.

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SOBEL MASKS

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SOBEL PROCEDURE

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THE PROCESS

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ALGORITHM FOR THE OPERATION

This method is used to convert colour image to greyscale image

The binary image is then processed to find object. Centroid of object, binary image is then, processed with image negative algorithm.

After finding centroid of object, signature of object is generated.

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OBJREC ALGORITHM FOR OPERATIONAL USE

Objrec algorithm is developed in MATLAB to recognize the colour and send command to the controller using serial communication

Various steps involved are

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Objrec algorithm

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TRANSFER OF CONTROL SIGNALS

Interfacing circuit contains isolation circuit with optocoupler.

Control signal send from PC to Optocoupler via parallel port.

Optocoupler is necessary to prevent system from damage

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ADVANTAGES

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DISADVANTAGES

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APPLICATIONS Industries for assembly process,automation, welding etc Medical applications Hazardous environments PCB manufacturing units. Space exploration Furnace manufacturing units. Oil refineries. Notable robotic arms and low cost robotic arms Pick and place robotic arms can be used as a good teaching

aid College of Engineering Munnar

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Enhancements that can be applied

Range Estimation for Robot arm Applications using Image Segmentation and Curve Fitting Tool

 Control Design and Implementation of Intelligent Vehicle with Robot Arm and Computer Vision

Automated Library System Using Robotic Arm Robot arm Applications using Image Segmentation and Curve Fitting Tool

Wireless Control of Pick and Place Robotic Arm Using an Android Application

Object Locator and Collector Robotic Arm Using Artificial Neural Network

 

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References

INTERNATIONAL JOURNAL OF SCIENTIFIC & TECHNOLOGY RESEARCH VOLUME 5, ISSUE 06, JUNE 2016 -Khin Moe Myint, Zaw Min Min Htun, Hla Myo Tun

International Journal of Advanced Computational Engineering and Networking, -, Sept-2013 P.B.VIJAYALAXMI, ROHAN PUTTA, GAYATRI SHINDE, PUNIT LOHANI,Assistant Professor, Department of Computer Engineering, Fr. C. Rodrigues Institute of Technology, Vashi,

International Journal of Robotics and Automation (IJRA)-Vol. 2, No. 3, September -Jolly Shah1, S.S.Rattan1, B.C.Nakra21ME Department, NIT, Kurukshetra, 136118, India

International Journal of Mechanical & Mechatronics Engineering IJMME-IJENS , October 2013 -Ayokunle A. Awelewa, Kenechukwu C. Mbanisi,Samuel O.Majekodunmi,shioma A. Odigwe,Ayoade F.Agbetuyi,Isaac A. Samuel -Department of Electrical and Information Engineering, College of Science & Technology, Covenant University, Ota, Ogun State, Nigeria.

Project on― Pick n Place Robot‖, made by Bharat Jain and Dinesh Rajput, under guidance of Prof. KaviArya, IIT Mumbai,2010.

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