The Integration of the Image Sensor with a 3-DOF Pneumatic Parallel Manipulator

Abstract

Abstract:The study aims to integrate the image sensor for a three-axial pneumatic parallel manipulator which can pick and place objects automatically by the feature information of the image processed through the SURF algorithm. The SURF algorithm is adopted for defining and matching the features of a target object and an object database. In order to accurately mark the center of target and strengthen the feature matching results, the random sample and consensus method (RANSAC) is utilized. The ASUS Xtion Pro Live depth camera which can directly estimate the 3-D location of the target point is used in this study. A set of coordinate estimation calibrations is developed for enhancing the accuracy of target location estimation. This study also presents hand gesture recognition exploiting skin detection and noise elimination to determine the active finger count for input signals of the parallel manipulator. The end-effector of the parallel manipulator can be manipulated to the desired poses according to the measured finger count. Finally, the proposed methods are successfully to achieve the feature recognition and pick and place of the target object.

Control System for Vertical Take-Off and Landing Vehicle’s Adaptive Landing Based on Multi-Sensor Data Fusion

“…A depth camera is a novel vision sensor which can output both RGB image and depth image. The depth camera is a kind of low-cost 3D scanning approach comparing to 3D laser scanners, which is widely used in robot motion feedback [ 21 ], motion measurement [ 22 ], UAV obstacle avoidance [ 23 ], and other fields.…”

Development and Control of a Pneumatic-Actuator 3-DOF Translational Parallel Manipulator with Robot Vision

“…In [18], joint space control for a three-axial pneumatic PM was developed with a stereo vision 3D position measurement system; the desired trajectory in task space was obtained by solving the inverse kinematic problem. In [19], vision-based control was investigated for the path tracking control of a 3-DOF translational PM (TPM) in which the pose of the end-effector was measured by a stereo vision system.…”

“…In [18], the performance levels of different control algorithms based on proportional-integral-derivative (PID) and adaptive control design were experimentally evaluated on a 3-DOF planar PM. In addition, an adaptive dynamic control scheme was proposed in [19] and implemented for a 3-DOF PM to conduct the experimental study. A convex synchronized control method was used in the trajectory tracking control of a 3-DOF planar PM and evaluated under several experimental conditions [20].…”