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1. means of artificial vision 8 is a project that involves the inverse kinematics for obtain the desired displacement These and other projects have some in common the communication that it settles between computer and controller is through the serial port due to the model of the Scorbot moreover most movements of the robot are pre engraved with exception of the projected system of dynamic guide in our case the model with the works is the Scorbot Er 4u it has the series interface but according to the manual of the manufacturer it has been limited this port for security so the unique middle of communication a hundred by the hundreds functional between the computer and the controller is by means of USB port Recent projects used the USB communication of the Scorbot but controlled using Bat files they contain information of routes of access to the programs or positions previously burned of the Scorbase which cause limitations if has not this software We have a few information of the use and employ of the MTIS being planned with system vision however your use facilitates the communication of the computer to the controller by means of the employment of the Matlab Software In 9 the kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa The solution is through model of representation Denavit Harbenterg The workspace density function is described with both planar revolute2. 0 120 110 60 0 Grad 70 10 100 20 0O bolean gripper 1 end else Grad 40 120 110 60 0O end end Fig 7 Function that calculates the displacement angles of the robot Based on these principles will create a function to calculate the internal angles are generated by changing the distance of the object see Figure 7 so that each time the object is a new distance function returns the new angles 4 RESULTS Respecting the parameters table 1 working distance and field of view they test for the algorithm created with the following results The rotation of the base has a margin of error 4 degrees which is offset in the algorithm If the object it s inside range of robot with a margin of error of 0 25in The surface should be matte because the robot is in constant illumination variation which in a reflective surface may cause the algorithm to detect objects ghosts To take the first object makes the robot pose with the distance the two and thereafter tends to decrease which causes an arc of the initial portion to the end see figure 6 If the object is less than 7 87 in the robot was located just above it without pick with gripper perpendicular to the surface because the algorithm is not yet described the pose that must acquire if it happens Placing multiple objects in the workspace only the object that is closest to the origin the robot will be the object that will take the Scorb
3. In industrial systems the computer vision system is part of an automated control system or an inspection system basically on off Hence trajectories programming industrial robots industrial manipulators focuses on the performance of specific tasks but when you take them with a stage in which the manipulator involves decision making this gives a certain degree of autonomy to the manipulator This contributes to better programming the trajectory of the manipulator which in turn reduces the time in production lines When establishing communication to perform control actions between the manipulator and the vision system that acts as a controller via USB allows all takes place under the same communication protocol enabling real time action thus avoiding a double programming to perform the same action 1 1 Workspace Geometry The workspace of a manipulator is defined as the volume of space the end effector can reach 1 Therefore are specified two types of workspace reachable workspace and dextrous workspace In the first is considerate to the volume of space within which every point can be reach by the effector in at least one orientation While in the dextrous workspace is the Gilberto Moreno Aguilar Department Mechatronic Engineering Technology University of Huejotzingo Huejotzingo Puebla M xico volume of space within which every point can be reached by the effector in all possible orientations 1 2 Scorbot Er 4u Educ
4. International Journal of Computer Applications 0975 8887 Volume 56 No 18 October 2012 Vision System via USB for Object Recognition and Manipulation with Scorbot ER 4U Alejandra Cruz Bernal Department Robotic Engineering Polytechnic University of Guanajuato Cortazar Guanajuato Mexico ABSTRACT Through this paper presents the development of a controller for a Scorbot Er 4u didactic manipulator using a vision system communicating via the USB port Considerate that nowadays robotics is an essential element for the automatization in manufacturing process As_ particular advantage over other systems failure to use interfaces that involves development of additional hardware controller itself Also should the question arise of improve a new form of generate trajectories through Minimum Euclidian Distance MED This results yielded handling objects plus the ability to perceive the environment through the artificial vision system using image processing and MED in order to generate information elements surrounding the manipulator allowing the robot classify objects in your workspace establishing a fine line between reachable and skilful General Terms Object Recognition Manipulator Robot Vision System Keywords Vision System USB Port Image Processing Minimum Euclidian Distance MED 1 INTRODUCTION In recent decades robot manipulators have been used primarily for repetitive operations and hazardous environments
5. Webcam Matlab Connection Once captured the image processing is performed in the same to have a binary image to this you can count the number of pixels for each frame and using the linear relationship of magnitudes or rule of three have the inches each pixel equation 1 Pixem mR 1 pxC 1 Where Pixem Actual centimeters by Pixel mR Measure actual box cm length pxC Number of pixels counted Having established the working distance and equivalence of centimeters per pixel set the field of view Figure 3 cut out the captured image and thus work on it to determine the coordinates of the center of the objects present Figure 4 11 O s Function Cutout Image function cut cut image y x size image cut imagen 45 y 20 x a b Be WW ver al pub zw diel tel Jdi ASSY QA CE ag rer IfA Fi vis fiw Tie Wag wins bry 2Gde SAUDER A SOR 90 c d Fig 3 a Image Original b Code Cut Out Image c Binary image original d Reachable workspace X Obj 3 x3 y3 x2 y2 4591 Fig 4 Representing the coordinates in R of the object and its distance from the origin deyc ll p gill Lia P ey T 2 Where h p Q ming deuc p qi q e Q 3 else h p Q 0 Out Range 4 For the distances from the origin Scorbot to the objects we will use the MED formula 3 and 4 in R using the coordinates of the centers of each objects Figur
6. and variable geometry truss manipulators 10 A focus reaching subtask with which involves computing trajectory for arm manipulator integrated approach to kinematic inverse and path planning 11 International Journal of Computer Applications 0975 8887 Volume 56 No 18 October 2012 3 METODOLOGY The vision system uses a web FUJ cam 100 whose resolution of 352x288 a PC running XP SP3 the MITS software and Matlab 2010 Before entering the software development environment should be set the following parameter Working distance 43 3 in Then the camera is calibrated 12 to determine actual measurements of distances and objects to be displayed this is done by placing a grid monochromatic whose pictures are 5cm as can be varied and is only used as a reference to determine relationship between pixel and cm and by imaghwinfo function and a few lines of code is obtained by connecting the camera Matlab Figure 2 Update handles structure start handles vidobj guidata hObject handles vidRes get handles vidobj VideoResolution nBands get handles vidobj NumberOfBands himage image zeros vidRes 2 vidRes 1 nBands Parent handles axes 7 preview handles vidobj hImage catch msgbox Camera Out hImage image imread sin jpg Parent handles axes 7 end end axes handles axes1 background imread axis off imshow background Fig 2 Code for
7. ational Manipulator The Scorbot Er 4u robot is a versatile and reliable system for educational use it have a mechanical structure vertically articulated open frame with five rotational axes and gripper 2 Therefore the mechanical transmission system of this robot consists on gear timing belts and lead screws principal 1 2 1 MITS Matlab Toolbox for Inteliteck Scorbot Users can only control the arm using Scorbase Intelitek s proprietary stand alone programming environment Scorbase is the operation software and robotic programming The Scorbot Er 4u version uses a USB interface and conceals the API With 3 Toolbox provides a set of libraries DLLs and M files that let you control the robot directly using Matlab see figure 1 USB lt MTIS MATLAB 4 4 i NTELITEK DLL USTED Fig 1 Control Structure MITS via USB 1 3 System Vision Machine vision techniques have matured rapidly in the past twenty years changing both hardware and software 4 But how currently defined vision and artificial elements include a vision system Defined as part of artificial intelligence and is the set of techniques and models to process analyze and explain that spatial 3D obtained from a digital image 2D The elements of a vision system are camera and optics lighting positioning sensor video capture card computer vision software and inputs and outputs of the network configuration In all vision syst
8. e 4 3 1 Control of Scorbot Er 4u with MTIS 3 1 1 Functions MITS Experimenting with Toolbox functions we found a feature that allows the positioning of the base degrees shoulder elbow tilt and swivel claw through of International Journal of Computer Applications 0975 8887 Volume 56 No 18 October 2012 1 ScorJtMove BSEPR 2 ScorInit 3 ScorHome 4 ScorSetSpeed 5 ScorSetGripper cm 6 ScorGetJt The function ScorJtMove requires five input angle values the angle base shoulder elbow tilt and rotation of the grip so you can call the dll USB driver 3 1 2 Optimal Inverse Kinematic The workspace is project of R gt R and subsequently characterizing these projections Therefore used the geometrical method where have been a translation before a rotation first at origin and posteriori point q This point is necessary belongs to space R The procedure is based on finding a sufficient number of geometric relationships which will involve the end of the finish element or effector coordinates their coordinate s joint and physical dimensions of the elements see Figure 4 and 5 Z Zc dl xe yc x Xo Yo Zc xc Y X xc yc a 8 ve xc hl Yy X xc yc Fig 5 Representing the coordinates in R of the effector Therefore the function values are obtained under the MTIS this relationship and with the implementation of the trigonometry s laws Moreover this ratio must be limited according to t
9. em should address the following parameters e Field of vision It is the area of the object that will be 10 catch for the sensor e Resolution It is a measure of the capacitance of the vision system to reproduce the details of one object e Distance of work It is the measured distance from the lens of the camera until the object e Depth of field It s the area opposite and behind the object that is studying and remains focused for the lens also it s named the focusing tolerance e Size of the sensor e Distortion It s the change unwanted in the form of a present object in the field of vision These parameters are indispensable for the development of vision software 2 REVIEW Several projects that involves the control of the Scorbot by means of the use of Matlab Software or incorporating a system of vision we found a project called cut laser 5 that his authors describe the robot will has a conduct like a printing machine in whose final effector will has a laser and it will draw or in his defect will cut metal The game tic tac toc whose end is that the robot by means of a system of vision can select someone of the recorded poses to follow the game 6 The selection of nuts screw and keys is other project 7 that uses system of vision for give instructions to the robot of as classifies they is to say incorporate an algorithm of take of decisions the system of dynamic guide for Scorbot Er IX robot arm by
10. he measures of the robot the maximum radius reached by the Scorbot Er 4u is 24 in and therefore the distance h1 or d1 must be less than the maximum radius in R contained in dextrous workspace m in Figure 6 Elbow Shoulder and object distance h1 or dl see figure 4 and 5 form a triangle the internal angles can be obtained using the law of sine and cosines obtain the representation of displacement of effector see Figure 6 12 Camera Dextrous 2 Workspace R x1 y1 Reachable Workspace R Fig 6 Displacement Representation Effector Displaccementfor yu 1 Ne3 if mindist gt 44 1 amp amp mindist lt 58 bolean gripper 1 an02 an03 pinz0O1 parallel minidistancid bolean robot 1 angle an02 an03 pinz0l S Primer movimiento an2 ans pinz objeto mindist bolean robou 1 angle anZ2 an3 pinz jo egundo moviento bajar bolean gripper 0 cm mide garra if cm gt 1 Grad 10 64 20 72 0 Posicion Camara l camara preview veo pause 5 color24 getsnapshot veo S6closepreview simehow Color 4 valor piezal color24 S6Function of determinate piece International Journal of Computer Applications 0975 8887 Volume 56 No 18 October 2012 if valor Grad 10 120 110 60 O Grad 65 1 50 20 0 bolean gripper 1 end if valor Grad 10 120 110 60 0 Grad 40 120 110 60 J Grad 40 1 50 20 0 bolean gripper 1 end if valor Grad 1
11. lel manipulators Wiley Interscience John Wiley amp Sons Inc pp 21 109 1999 2 Intelitek Scorbot Er 4u User Manual Copyright 2001 Intelitek Inc Catalog 100343 Rev B September 2001 3 The MATLAB Toolbox for the Intelitek Scorbot MTIS http www usna edu Users weapsys esposito scorbot Ma tlab 4 Sezeleski R Computer Vision Algorithms and Applications 2010 Springer http szeliski org Book 5 Galnares J http www prototipando es proyectos 73 cortadora laser scorbot showall amp start 2 6 Almanza O D Implementaci n de la estrategia de juego Tic Tac Toe para la interacci n con un brazo rob tico Avances en Inteligencia Artificial ISSN 1870 4069 IPN 7 Sobrado M E Sistema de visi n artificial para el reconocimiento y manipulaci n de objetos utilizando un brazo robot Tesis PUCP http tesis pucp edu pe repositorio bitstream handle 1234 56789 68 sobrado_eddie_vision_artificial_brazo_robot p df sequence 2 8 Soto M C E sistema de gu a din mico para brazo robot Scorbot Er IX mediante visionartificial http cybertesis ubiobio cl tesis 2006 sot o_c html index frames html 9 Verma A Vivek A D End effector Position Analysis of SCORBOT ER V plus Robot International Journal of Smart Home Vol 5 No 1 January 2011 10 Suthakon J Chirikjan G S A new inverse kinematics algorithm for binarymanipulator with a many ac
12. ot On the use of MTIS not present problems of communication worked perfectly on XP for other versions of Windows still in compatibility testing and communication see figure 8 13 International Journal of Computer Applications 0975 8887 Volume 56 No 18 October 2012 Table 1 Sumary Parameters 1 100 1 54 s Move 100 lt 0 gt 100 15 57 cm Not applied the negative value Response Time Execution Matlab 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 Response Time MTIS vs RS232 1 23 4 5 6 7 8 9 10 11 12 13 14 15 16 17 MTIS RS232 Fig 8 The Average Response Time is 1 01 r Fig 9 Scorbot Er 4u in your Reachable Workspace and Detection Objects to Recognition 14 International Journal of Computer Applications 0975 8887 Volume 56 No 18 October 2012 Fig 10 Sequence of Scorbot Er 4u in your trajectory calculated through of MED also the selection and classification of 5 CONCLUSION The longitude of manipulator in the Dextrous Workspace calculated through of MED allowed smoothing curve in the trajectory in the effector Accordingly to considerate a new origin in the center of point or coordinate of object take is generated a new trajectory with a efficient response time in the execution of program in real time working with a parallel process thank to communication via USB 6 REFERENCES 1 Tsai L W Robot analysis the mechanics of serial and paral
13. tuators Advance Robotics Vol 15 No 2 Pp 225 244 2001 11 Bertram D Kuffner J Dillmann R and Asfour T A integrated approach to kinematic inverse and path planning for redundant manipulators Proceedings of the 2006International Conference in Robotics and Automation Orlando Florida 2006 pp 1874 1878 12 The Camera Calibration Toolbox http www vision caltech edu bouguetj calib doc 15
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