Real-time vision-based controller for delta robots

Sharida, Ali; Hashlamon, Iyad

doi:10.1504/ijista.2021.121321

Cited by 3 publications

(1 citation statement)

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“…For pick-and-place operation, vision system [34], [35], [36] could estimate the position and shape so that a motion control of the delta robot could be coordinated with the conveyer motion to perform a real-time object picking. Also, the delta-robot visual-tracking platforms have been used to provide feedback signal for 1) dynamically visual-servo tracking, employing template matching method on FPGA [37], 2) tracking the position trajectory and controlling desired end-effector force simultaneously [38], 3) optimizing controller designs with respect to both camera and robot-geometric parameters [39] and 4) computing position and velocity of tracked objected and automatically camera calibration [40]. Furthermore, kinematic parameters identification of a delta robotic system, consisted of three delta manipulators acting as an individual finger, could be accomplished using a pose estimation with marker board detection from a vision system [41].…”

Section: Introductionmentioning

confidence: 99%

Visual Servo Kinematic Control of Delta Robot using YOLOv5 Algorithm

Yamtuan,

Radomngam,

Prempraneerach

2023

Journal of Robotics and Control

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Industrial delta robots with motion-and vision-base controllers, providing high-precision and fast/flexible motion, normally come with high cost and complex software. Low-cost delta robots with vision solution could be beneficial to vast industries to increase productivity and to reduce labor cost. A delta robot using a low-cost motion controller and an open-source vision system is developed to accomplish real-time visual servoing with high motion accuracy. In the low-cost motion controller, three parallel links’ upper-arm angles, computed from inverse kinematics for a given desired target position by a high-level computer, are used as reference position commands for three AC-motor drives. A low-level Arduino microcontroller is employed to convert these links’ angles to high-frequency pulses and on-off signals for synchronously controlling three motor angles and direction. Experimental results of a point-to-point motion tracking exhibit high-precision repeatability. Synchronous pulse generation from Arduino microcontroller and structural misalignments of parallel links are major challenges for achieving high motion accuracy. For the vision-based system, the YOLOv5 algorithm is implemented along with a Python GUI Application. Then, the visual-servo performance is evaluated on localization accuracy and recognition rate of 3-color objects. However, a partial object occlusion can reduce the visual classification rate. A sorting task of 4-category medicine boxes demonstrate a high-speed pick-and-place operation using the low-cost visual-servo system of this delta robot. Therefore, integration of low-cost visual servoing with this delta robot can revolutionize various industries, like automobile, pharmaceutical, and food sectors, in separating, sorting and packing applications.

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