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Mathematical Models for a Robot Arm Control SystemStefan Gheorghe PENTIUC, Radu Daniel VATAVU, Remus Catalin PRODAN, Leonard IURESCU, Tudor Ioan CERLINCA, Cristian IVANCESCU |
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Author keywords
robot control, image processing, automatic self calibration, video motion detection, edge detection
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About this article
Date of Publication: 2005-04-02
Volume 5, Issue 1, Year 2005, On page(s): 91 - 95
ISSN: 1582-7445, e-ISSN: 1844-7600
Digital Object Identifier: Not assigned
Abstract
The control system for a robot arm is an ongoing image processing project for which many enhancements have been done during the last years. The paper introduces a new control system for a robot arm, developed in the Electrical Engineering Department. The control is represented by the robot's movements of grabbing and moving objects located on an operational table to user selected destination points. The enhancements involve robot visual-based automatic calibration with respect to the working field axes and scale, fast and robust object detection. A self-calibration algorithm, based on video motion and color detection, is used in order to provide a good conversion of the objects' coordinates from the image space into the working area coordinates system. The algorithm proves to be general enough to be employed in other similar image processing based scenarios where self-calibration might be useful. |
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Faculty of Electrical Engineering and Computer Science
Stefan cel Mare University of Suceava, Romania
All rights reserved: Advances in Electrical and Computer Engineering is a registered trademark of the Stefan cel Mare University of Suceava. No part of this publication may be reproduced, stored in a retrieval system, photocopied, recorded or archived, without the written permission from the Editor. When authors submit their papers for publication, they agree that the copyright for their article be transferred to the Faculty of Electrical Engineering and Computer Science, Stefan cel Mare University of Suceava, Romania, if and only if the articles are accepted for publication. The copyright covers the exclusive rights to reproduce and distribute the article, including reprints and translations.
Permission for other use: The copyright owner's consent does not extend to copying for general distribution, for promotion, for creating new works, or for resale. Specific written permission must be obtained from the Editor for such copying. Direct linking to files hosted on this website is strictly prohibited.
Disclaimer: Whilst every effort is made by the publishers and editorial board to see that no inaccurate or misleading data, opinions or statements appear in this journal, they wish to make it clear that all information and opinions formulated in the articles, as well as linguistic accuracy, are the sole responsibility of the author.
