Research Article
BibTex RIS Cite

Image processing-based realization of servo motor control on a Cartesian Robot with Rexroth PLC

Year 2022, Volume: 6 Issue: 4, 320 - 326, 15.10.2022
https://doi.org/10.31127/tuje.1004169

Abstract

The aim of this study was to separate the objects, whose position was determined using Rexroth PLC on a workbench, and bring them to different locations. Position control of synchronous motors with PLC was done with coordinates obtained by image processing. A real-time Gantry robot was set up for the study. An image taken with the camera connected to Gantry robot is transferred to the Matlab environment. The coordinate data obtained by processing the image are separated for the coordinates used, and the position control of the motors is provided. First, the image was changed to grayscale to apply image processing methods. Then, with the image processing formula, ‘viscircles’ has been applied to mark the detected circles. The obtained coordinates were transferred to IndraWorks PLC to be used in the portal robot. Objects in the determined coordinates were moved to another coordinate with the help of the pneumatic system that integrated to Gantry Robot. The system has been tested for different conditions. As a result of studies, it has been observed that both the image processing method and the system work simultaneously with high accuracy. It is thought that the study can be used in many areas in the literature.

References

  • Alekseevic N R (2020). The investigating algorithms of crack position determination based on imagery processing and photogrammetry methods.
  • Bakır A, Güney Ö F, Kuncan M, Ertunç H M (2012). 3 Eksenli Robot Mekanizmasına Monte Edilmiş Bir Kamera Vasıtasıyla Farklı Rotasyon ve Boyutlardaki Geometrik Cisimlerin Tanımlanarak Vakum Tutucu ile Ayrılması. Otomatı̇k Kontrol Ulusal Toplantısı, Niğde, Turkey, 606-609.
  • Banafian N, Fesharakifard R & Menhaj M B (2021). Precise seam tracking in robotic welding by an improved image processing approach. The International Journal of Advanced Manufacturing Technology, 114(1), 251-270.
  • Belgacem I, Jonniaux G & Schmidt F (2020). Image processing for precise geometry determination. Planetary and Space Science, 193, 105081.
  • Çubukçu A, Kuncan M, İmren M, Erol F, Ertunç H M, Öztürk S & Kaplan K (2015). Görüntü işleme ile 3 eksenli robot mekanizması üzerinde nesne ayırt edilmesi ve sıralanması. Otomati̇k Kontrol Ulusal Toplantısı. 637-641.
  • Horoz E, Öten H F, Kuncan M & Ertunç H M (2013). Kamera Yardımı ile Ayırt Edilen ve Tanımlanan Cisimlerin 3 Eksenli Robot Mekanizması ile Taşınması. Otomatı̇k Kontrol Ulusal Toplantısı, Malatya, Turkey, 1236-1240.
  • Hu X, Deng X & Zhao Q (2021). A gantry robot system for cutting single Y-shaped welding grooves on plane workpieces. Proceedings of the Institution of Mechanical Engineers, Part E: Journal of Process Mechanical Engineering, 235(2), 321-331.
  • Jose A & Udupa G (2021). Gantry robot system for preventing drowning accidents in swimming pools. Materials Today: Proceedings, 46, 4975-4981.
  • Kuncan M, Kaplan K, Acar F, Kundakçi I M & Ertunç H M (2016). Fuzzy logic based ball on plate balancing system real time control by image processing. International Journal of Natural and Engineering Sciences, 10(3), 28-32.
  • Köse İ, Öztürk S, Kuncan M (2019). Pantography application with real-time PLC based on image processing in gantry robot system. European Journal of Technique (EJT), 9(2), 219-229.
  • Kuncan M & Kaplan K (2016). POSITION DETERMINATION BY USING IMAGE PROCESSING METHOD IN INVERTED PENDULUM. Middle East Journal, 1(2).
  • Senthilkumaran N, Vaithegi S, (2016). Image Segmentation by Using Thresholding Techniques for Medical Images, Computer Science & Engineering: An International Journal (CSEIJ), 6(1), February 2016.
  • Şengül Ö, Öztürk S & Kuncan M (2020). Color based object separation in conveyor belt using PLC. Avrupa Bilim ve Teknoloji Dergisi, (18), 401-412.
  • Priyanto H & Miftahuddin Z (2015). Color-Texture Based Object Tracking Using HSV Color Space and Local Binary Pattern, International Journal on Electrical Engineering and Informatics – 7(2), June 2015.
  • Vishesh G, Tarun J, Sahil S & Silica K (2017). Specific Color Detection in Images using RGB Modelling in MATLAB, International Journal of Computer Applications (0975 – 8887), 161(8), March 2017.
Year 2022, Volume: 6 Issue: 4, 320 - 326, 15.10.2022
https://doi.org/10.31127/tuje.1004169

Abstract

References

  • Alekseevic N R (2020). The investigating algorithms of crack position determination based on imagery processing and photogrammetry methods.
  • Bakır A, Güney Ö F, Kuncan M, Ertunç H M (2012). 3 Eksenli Robot Mekanizmasına Monte Edilmiş Bir Kamera Vasıtasıyla Farklı Rotasyon ve Boyutlardaki Geometrik Cisimlerin Tanımlanarak Vakum Tutucu ile Ayrılması. Otomatı̇k Kontrol Ulusal Toplantısı, Niğde, Turkey, 606-609.
  • Banafian N, Fesharakifard R & Menhaj M B (2021). Precise seam tracking in robotic welding by an improved image processing approach. The International Journal of Advanced Manufacturing Technology, 114(1), 251-270.
  • Belgacem I, Jonniaux G & Schmidt F (2020). Image processing for precise geometry determination. Planetary and Space Science, 193, 105081.
  • Çubukçu A, Kuncan M, İmren M, Erol F, Ertunç H M, Öztürk S & Kaplan K (2015). Görüntü işleme ile 3 eksenli robot mekanizması üzerinde nesne ayırt edilmesi ve sıralanması. Otomati̇k Kontrol Ulusal Toplantısı. 637-641.
  • Horoz E, Öten H F, Kuncan M & Ertunç H M (2013). Kamera Yardımı ile Ayırt Edilen ve Tanımlanan Cisimlerin 3 Eksenli Robot Mekanizması ile Taşınması. Otomatı̇k Kontrol Ulusal Toplantısı, Malatya, Turkey, 1236-1240.
  • Hu X, Deng X & Zhao Q (2021). A gantry robot system for cutting single Y-shaped welding grooves on plane workpieces. Proceedings of the Institution of Mechanical Engineers, Part E: Journal of Process Mechanical Engineering, 235(2), 321-331.
  • Jose A & Udupa G (2021). Gantry robot system for preventing drowning accidents in swimming pools. Materials Today: Proceedings, 46, 4975-4981.
  • Kuncan M, Kaplan K, Acar F, Kundakçi I M & Ertunç H M (2016). Fuzzy logic based ball on plate balancing system real time control by image processing. International Journal of Natural and Engineering Sciences, 10(3), 28-32.
  • Köse İ, Öztürk S, Kuncan M (2019). Pantography application with real-time PLC based on image processing in gantry robot system. European Journal of Technique (EJT), 9(2), 219-229.
  • Kuncan M & Kaplan K (2016). POSITION DETERMINATION BY USING IMAGE PROCESSING METHOD IN INVERTED PENDULUM. Middle East Journal, 1(2).
  • Senthilkumaran N, Vaithegi S, (2016). Image Segmentation by Using Thresholding Techniques for Medical Images, Computer Science & Engineering: An International Journal (CSEIJ), 6(1), February 2016.
  • Şengül Ö, Öztürk S & Kuncan M (2020). Color based object separation in conveyor belt using PLC. Avrupa Bilim ve Teknoloji Dergisi, (18), 401-412.
  • Priyanto H & Miftahuddin Z (2015). Color-Texture Based Object Tracking Using HSV Color Space and Local Binary Pattern, International Journal on Electrical Engineering and Informatics – 7(2), June 2015.
  • Vishesh G, Tarun J, Sahil S & Silica K (2017). Specific Color Detection in Images using RGB Modelling in MATLAB, International Journal of Computer Applications (0975 – 8887), 161(8), March 2017.
There are 15 citations in total.

Details

Primary Language English
Subjects Engineering
Journal Section Articles
Authors

Fatma Kuncan 0000-0003-0712-6426

Sıtkı Öztürk 0000-0003-3804-5581

Fatihhan Keleş This is me 0000-0002-6375-5553

Publication Date October 15, 2022
Published in Issue Year 2022 Volume: 6 Issue: 4

Cite

APA Kuncan, F., Öztürk, S., & Keleş, F. (2022). Image processing-based realization of servo motor control on a Cartesian Robot with Rexroth PLC. Turkish Journal of Engineering, 6(4), 320-326. https://doi.org/10.31127/tuje.1004169
AMA Kuncan F, Öztürk S, Keleş F. Image processing-based realization of servo motor control on a Cartesian Robot with Rexroth PLC. TUJE. October 2022;6(4):320-326. doi:10.31127/tuje.1004169
Chicago Kuncan, Fatma, Sıtkı Öztürk, and Fatihhan Keleş. “Image Processing-Based Realization of Servo Motor Control on a Cartesian Robot With Rexroth PLC”. Turkish Journal of Engineering 6, no. 4 (October 2022): 320-26. https://doi.org/10.31127/tuje.1004169.
EndNote Kuncan F, Öztürk S, Keleş F (October 1, 2022) Image processing-based realization of servo motor control on a Cartesian Robot with Rexroth PLC. Turkish Journal of Engineering 6 4 320–326.
IEEE F. Kuncan, S. Öztürk, and F. Keleş, “Image processing-based realization of servo motor control on a Cartesian Robot with Rexroth PLC”, TUJE, vol. 6, no. 4, pp. 320–326, 2022, doi: 10.31127/tuje.1004169.
ISNAD Kuncan, Fatma et al. “Image Processing-Based Realization of Servo Motor Control on a Cartesian Robot With Rexroth PLC”. Turkish Journal of Engineering 6/4 (October 2022), 320-326. https://doi.org/10.31127/tuje.1004169.
JAMA Kuncan F, Öztürk S, Keleş F. Image processing-based realization of servo motor control on a Cartesian Robot with Rexroth PLC. TUJE. 2022;6:320–326.
MLA Kuncan, Fatma et al. “Image Processing-Based Realization of Servo Motor Control on a Cartesian Robot With Rexroth PLC”. Turkish Journal of Engineering, vol. 6, no. 4, 2022, pp. 320-6, doi:10.31127/tuje.1004169.
Vancouver Kuncan F, Öztürk S, Keleş F. Image processing-based realization of servo motor control on a Cartesian Robot with Rexroth PLC. TUJE. 2022;6(4):320-6.
Flag Counter