Robotic Arm Trajectory Tracking Using Image Processing and Kinematic Equations

Year 2024, Volume: 7 Issue: 3, 436 - 444, 15.05.2024

Yusuf Hamida El Naser , Durmuş Karayel , Mert Süleyman Demirsoy , Muhammed Salih Sarıkaya , Nur Yasin Peker

https://doi.org/10.34248/bsengineering.1445455

Abstract

This study presents a novel approach for scanning and obtaining object contours within a workspace using a camera and subsequently following these 2-D contours to another region with the assistance of an end effector. The process begins with the determination of boundary lines of object images through advanced image processing methodologies. Subsequently, a conversion from camera pixel coordinates to robot metric coordinates is performed to facilitate trajectory planning for the robotic arm. The trajectory of the robot arm, and consequently, the path followed by the end effector, is determined based on these metric coordinates. The article provides a detailed exposition of the methodology, including the mathematical background and experimental study, showcasing the efficacy and accuracy of the proposed approach in real-world scenarios. This research contributes to the advancement of robotic systems capable of precise trajectory tracking and manipulation tasks in diverse applications. This study involves an innovative approach that combines theoretical and practical methods, including object contour detection using image processing, conversion of pixel coordinates obtained from the camera to robot metric coordinates, robot kinematics, and programming steps.

Keywords

Image processing, Robot arm, Inverse kinematics, Trajectory tracking, Smart servos

References

• Budiyanta NE, Sereati CO, Lukas L. 2020. PD controller computer vision and robotics integration based for student’s programming comprehension improvement. Telecommun Comput Electron Cont, 18(2): 899-906.
• Cheah CC, Liu C, Slotine JJE. 2006. Adaptive tracking control for robots with unknown kinematic and dynamic properties. Int J Robot Res, 25(3): 283-296.
• Chen CY, Liao PS, Cheng CC, Jong GF. 2007. Design and implementation of integrated non-uniform rational B-spline and digital differential analyser interpolators for computerized numerical control servocontrollers. Proceedings of the Institution of Mechanical Engineers, Part C: J Mechan Eng Sci, 221(9): 1075-1087.
• Ding F, Liu C. 2018. Applying coordinate fixed Denavit–Hartenberg method to solve the workspace of drilling robot arm. Int J Adv Robot Syst, 15(4): 1729881418793283.
• Dixon WE. 2007. Adaptive regulation of amplitude limited robot manipulators with uncertain kinematics and dynamics. IEEE Transact Auto Cont, 52(3): 488-493.
• Duque-Suárez N, Amaya-Mejía LM, Martinez C, Jaramillo-Ramirez D. 2022. Deep learning for safe human-robot collaboration. In advances in automation and robotics research. Proceedings of the 3rd Latin American Congress on Automation and Robotics, Monterrey, Mexico, May 12-15, pp: 239-251.
• Dyck M, Tavakoli M. 2013. Measuring the dynamic impedance of the human arm without a force sensor. IEEE 13th International Conference on Rehabilitation Robotics (ICORR), June 24-26, Seattle, US, pp: 1-8.
• El Naser YH, Atalı G, Karayel D, Özkan SS. 2020. Prototyping an industrial robot arm for deburring in machining. Acad Plat J Eng Sci, 8(2): 304-309.
• Fang L, Liu G, Li Q, Zhang H. 2022. A high-precision non-uniform rational B-spline interpolator based on S-shaped feedrate scheduling. Int J Adv Manufact Technol, 121(3-4): 2585-2595.
• Garriga-Casanovas A, Rodriguez y Baena F. 2019. Kinematics of continuum robots with constant curvature bending and extension capabilities. J Mechan Robot, 11(1): 011010.
• Grzelczyk D, Szymanowska O, Awrejcewicz J. 2019. Kinematic and dynamic simulation of an octopod robot controlled by different central pattern generators. Proceedings of the Institution of Mechanical Engineers, Part I: J Syst Cont Eng, 233(4): 400-417.
• Guzmán-Giménez J, Valera Fernández Á, Mata Amela V, Díaz-Rodríguez MÁ. 2020. Synthesis of the Inverse Kinematic Model of non-redundant open-chain robotic systems using Groebner Basis theory. Appl Sci, 10(8): 2781.
• He B, Xu F, Zhang P. 2021. Kinematics model approach to energy efficiency in sustainable manufacturing. Res Square, https://doi.org/10.21203/rs.3.rs-652070/v1.
• Jian-Peng S, Jin-Gang J, Wei Q, Zhi-Yuan H, Hong-Yuan M, Shan Z. 2023. Digital interactive design and robot-assisted preparation experiment of tooth veneer preparation: An in vitro proof-of-concept. IEEE Access, 11: 30292-30307.
• Jiao SX, Wang H, Xia LL, Zhang S. 2018. Research on trajectory planning of 6-DOF cutting-robot in machining complex surface. MATEC Web of Conf, 220: 06003.
• Liu X, Tao R, Tavakoli M. 2014. Adaptive control of uncertain nonlinear teleoperation systems. Mechatronics, 24(1): 66-78.
• Luo H, Fu J, Jiao L, Liu G, Yu C, Wu T. 2019. Kinematics and dynamics analysis of a new-type friction stir welding robot and its simulation. Adv Mechan Eng, 11(7): 1687814019866518.
• Mahmoodpour M, Lobov A, Hayati S, Pastukhov A. 2019. An affordable deep learning based solution to support pick and place robotic tasks. In Instrumentation Engineering, Electronics and Telecommunications–2019: Proceedings of the V International Forum, November 20-22, Izhevsk, Russian Federation, pp: 66-75.
• Nansai S, Ando Y, Itoh H, Kamamichi N. 2021. Design and implementation of a lizard-inspired robot. Appl Sci, 11(17): 7898.
• Romero-González C, García-Varea I, Martínez-Gómez J. 2022. Shape binary patterns: an efficient local descriptor and keypoint detector for point clouds. Multimedia Tools Appl, 81(3): 3577-3601.
• Sophokleous A, Christodoulou P, Doitsidis L, Chatzichristofis SA. 2021. Computer vision meets educational robotics. Electronics, 10(6): 730.
• Staicu S, Shao Z, Zhang Z, Tang X, Wang L. 2018. Kinematic analysis of the X4 translational–rotational parallel robot. Int J Adv Robot Syst, 15(5): 1729881418803849.
• Syahrian NM, Risma P, Dewi T. 2017. Vision-based pipe monitoring robot for crack detection using canny edge detection method as an image processing technique. Kinetik: Game Technol Info Syst Comput Network Comput Electron Cont, 2017: 243-250.
• Tao Y, Chen F, Xiong H. 2014. Kinematics and workspace of a 4-DOF hybrid palletizing robot. Adv Mechan Eng, 6: 125973.
• Uk ME, Sajjad Ali Shah FB, Soyaslan M, Eldogan O. 2020. Modeling, control, and simulation of a SCARA PRR-type robot manipulator. Scientia Iranica, 27(1): 330-340.
• Wang T, Wu Y, Liang J, Han C, Chen J, Zhao Q. 2015. Analysis and experimental kinematics of a skid-steering wheeled robot based on a laser scanner sensor. Sensors, 15(5): 9681-9702.
• Yanto L, Dewanto RS, Pramadihanto D, Binugroho EH. 2017. Teen-Size humanoid †œFLoW†complete analytical kinematics. EMITTER Int J Eng Technol, 5(2): 298-311.
• Zhang T, Cao Y, Ma G. 2022. Trajectory planning of 3-CRU parallel robot with linear kinematics equation. Proceedings of the Institution of Mechanical Engineers, Part C: J Mechan Eng Sci, 236(17): 9589-9609.
• Zhou Q, Yuan K, Zou W, Lu P, Hu H. 2005. A multi-scale focus pseudo omni-directional robot vision system with intelligent image grabbers. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, July 24-28, Monterey, US, pp: 1563-1568.