Experimental Vision Guided ARM Robot Using Raspberry PI for General Working Application

Hermawan, Hendra and Berchmans, Hanny J. and Baskoro, Gembong (2016) Experimental Vision Guided ARM Robot Using Raspberry PI for General Working Application. Masters thesis, Swiss German University.

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Abstract

Development a visual-guided autonomous arm robot for general working application require some preliminary works/research to ensure the quality and reliability of robot. This research is experimental approach by developing a prototype on computer vision using Raspberry Pi and single web camera supported by Python-OpenCV programming and tested using Mitsubishi arm robot RV-M1in SGU laboratory. This research focus on experiments in object detection, object location estimation and object grasping tasks of robot. Experiment results showed that color-base detection is 22% faster than contour-based object detection for colorful tooling object without disturbance same color from environment. However, contour-base detection is more effective for target working object detection than color-base. Light illumination and disturbance from environment should be managed for successful object detection. Triangulation linearity method is simple and fastest method for tooling object position estimation when tooling object is a known sized object. Experiment result showed error only 3% for distance estimation using this method compared with actual. Tooling object must be placed horizontal when Grasped by robot RV-M1gripper in order to bring it in proper position toward target working object.

Item Type: Thesis (Masters)
Uncontrolled Keywords: Raspberry Pi; Object-detection; Python-OpenCV; Threshold; Keypoints; Color-based; contour-Feature base; Canny-edge; ORB,; SURF
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics
T Technology > TJ Mechanical engineering and machinery > TJ210 Robots (General)
Divisions: Faculty of Engineering and Information Technology > Department of Mechatronics Engineering
Depositing User: Atroridho Rizky
Date Deposited: 08 Jul 2020 12:15
Last Modified: 08 Jul 2020 12:15
URI: http://repository.sgu.ac.id/id/eprint/1087

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