Red Dot Determination with 6 Axis ABB Robot Arm

Year 2020, Volume: 3 Issue: 2, 26 - 34, 31.12.2020

Güzin Tirkeş Esra Nur Odabaşı Simge Aytar Gözde Nur Adışanlı İbrahim Turan Bastacıoğlu

Abstract

The general aim of this study is to determine the positions of the red points on the surface using techniques of real-time image processing via the camera and user interface mounted on the 6-axis robot arm. The robot arm movement is performed in the simulation environment ABB RobotStudio. 2D Webcam camera is used in the red point detection process. Detection of the red point is done via the interface in MATLAB, depending on three axes. Using the current position of the robot and the image it receives from the camera, the interface detects the correct place of the red point. This process is made using the prepared mathematical formula according to the camera's position. The X, Y , and Z coordinates of the red point can be found on flat surfaces of all shapes with developed software. The goal of this study is to prepare red point detection environment based on six axes.

Keywords

Functional point analysis, Image Processing, MATLAB, Robot programming

References

• [1]Yalım B.,Sinekoğlu Y. E., Kurt A. T."GörüntüİşlemeTabanlı4+1 Eksen RobotKolTasarımı".Undergraduate Thesis,Sakarya University.Sakarya, Turkey, 2016.
• [2]Erdoğan E.,Şimşek K.,KapusızB."RobotlardaGörüntüİşlemeTeknikleri Ve Uygulanmalarınınİncelenmesi".Undergraduate Thesis, Karabük University.Karabük,Turkey, 2017
• [3] Varol, H. S., & Yağımlı, M. (2009). "Renk Bileşenleri Yardımıyla Hareketli Hedeflerin Gerçek Zamanlı Tespiti". Journal of Naval Science and Engineering, 89-97.
• [4] Çubukçu, A., Kuncan, M., İmren, M., Erol, F., Ertunç, H. M., Öztürk, S., & Kaplan, K. (2015). "Görüntü İşleme İle 3 Eksenli Robot Mekanizması Üzerinde Nesne Ayırt Edilmesi ve Sıralanması". Undergraduate Thesis, Kocaeli University, Kocaeli, Turkey.
• [5] Şenel, F. A., & Çetişli, B. (2014). "Görüntü İşleme ve Beş Eksenli Robot Kol ile Üretim Bandında Nesne Denetimi". Research Article, Süleyman Demirel University, Isparta, Turkey.
• [6] Aytan, A. E., Öztürk, Y., & Örgev, E. K. (1993). "Görüntü İşleme". İ. U. Journal of the Faculty of Dentistry, 1993.
• [7] İşçimen, B., Atasoy, H., Kutlu, Y., Yıldırım, S., & Yıldırım, E. (2014). "Bilgisayar Görmesi ve Gradyan İniş Algoritması Kullanılarak Robot Kol Uygulaması". Akıllı Sistemlerde Yenilikler ve Uygulamaları, Mustafa Kemal University, İskenderun, Hatay, Turkey.
• [8] Vijayalaxmi, P. B., Putta, R., Shinde, G., & Lohani, P. (2013). "Object Detection Using Image Processing for an Industrial Robot". International Journal of Advanced Computational Engineering and Networking, Fr. C. Rodrigues Institute of Technology, Vashi, India.
• [9] Özgenel, Ç. F. (2016). "Otonom Çatlak Tespitinde Kullanılan Görüntü İşleme Yöntemleri ve Teknolojinin Potansiyelleri". 3. Ulusal Yapı Kongresi ve Sergisi Teknik Tasarım, Güvenlik ve Erişilebilirlik, TMMOB Mimarlar Odası, Ankara, Turkey.
• [10] Yılmaz, V., Güngör, O., & Kadıoğulları, A. İ. (2015). "Görüntü İşleme Teknikleri İle Ağaçların Boy, Tepe Çapı ve Tepe Hacimlerinin Belirlenmesi". TUFUAB VIII. Teknik Sempozyumu, Konya, Turkey.
• [11] Shaha, S. K., Mishra, R., Prasannaa, D., & Mohapatroa, G. (2019). "Fabrication and Deviation Analysis of a 5-Axis Robotic Arm Using Image Processing Technique". ScienceDirect, 4622–4629.
• [12] Kalaiarasan, G., Thomas, A., Kirubha, C., & Saravanan, B. (2016). "Development of Edge Processing and Drawing Algorithms for a 6 Axis Industrial Robot". CAD/CAM, Robotics and Factories of the Future: Proceedings of the 28th International Conference on CARs & FoF, India.
• [13] Cuşkun, Y., Duman, F., Basık, H., Gün, F., Kaplan, K., & Ertunç, H. M. (2016). "Görüntü İşleme Tabanlı 4 Eksenli Çok Amaçlı Robot Mekanizması". Conference Paper, Mechatronics Engineering Department, Kocaeli University, Kocaeli, Turkey.
• [14] Soans, R. V., Hegde, A., Kumar, A., Nittul, R., & Singh, C. (2017). "Object Tracking Robot Using Adaptive Color Thresholding". Proceedings of the 2nd International Conference on Communication and Electronics Systems (ICCES 2017).
• [15] Adar, N. G., & Kozan, R. (2013). "5 Serbestlik Dereceli Robot Kolunun Görüntü Esaslı Kontrolü". 16th National Machine Theory Symposium, Atatürk University, Engineering Faculty, Erzurum, Turkey.
• [16]Dragusu M., Mihalache A. N., Solea R. "Practical Applications for Robotic Arms Using Image Processing". System Theory, Control and Computing (ICSTCC), 16th International Conference onIEEE. 2012.