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A Combined Vision-Robot Arm System for Material Assortment

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Contents:

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Introduction

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Introduction

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Image Processing via Classical Moments

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Application of Hu moments on a image recognition experimental system:

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CCD Camera

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A Robot Arm with Five Degree of Freedom

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The body and the joints of the manipulator are all made from aluminium due to light weight and toughness of this material. For reducing the speed and also to increase the torques of the motors to desirable level, gear reduction mechanisms have been used for the actuators of the joints.

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Coordinates Located into the links

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Transformation matrices according to table are,

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Px , Py, Pz, can be found with respect to the angles θ1,2,3,4

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Before the path control applications, the position following capability of the manipulator is tested for each arm. First of all, reconsidering the mechanical design and its workspace; the possible motion capabilities of the manipulator are investigated. Joint based control is used for each joint by applying additional control algorithms. Responses of the joints for different control algorithms are tested.