An autonomous image-guided robotic system simulating industrial applications

Islam, Raza Ul; Iqbal, Jamshed; Manzoor, Sarah; Khalid, Aayman; Khan, Sana

Abstract

This paper presents a robotic system based on a serial manipulator. The robot is a vertical articulated arm with 5 revolute joints having 6 Degree Of Freedom. Actuated with six precise servo motors, the system offers positional accuracy of ±0.5mm with a movement speed of 100mm/s. Forward and Inverse Kinematic model of the robot has been developed and its workspace has been analyzed to facilitate the use of robotic arm as a simulated industrial manipulator. Image processing has been done to make system more autonomous. Followed by a user's commands, the system acquires image of the environment using on-board camera. This image is processed to extract information about object's coordinates. Based on these coordinates, Inverse Kinematic model computes the required joint angles for the end-effector to reach at desired position and orientation thus enabling it to manipulate the object. The proposed system can be used in wide range of industrial applications involving pick and place, sorting and other object manipulation tasks. The system can also be potentially useful for heavy and 'giant' industrial applications after scaling up i.e. using huge robotic arm, employing multiple and better cameras and optimizing algorithms. © 2012 IEEE.

Citation

Islam, R. U., Iqbal, J., Manzoor, S., Khalid, A., & Khan, S. (2013). An autonomous image-guided robotic system simulating industrial applications. In 2012 7th International Conference on System of Systems Engineering (SoSE) (344-349). https://doi.org/10.1109/SYSoSE.2012.6384195

• Conference Name: 2012 7th International Conference on System of Systems Engineering (SoSE)
• Conference Location: Genova, Italy
• Start Date: Jul 16, 2012
• End Date: Jul 19, 2012
• Publication Date: Jan 24, 2013
• Deposit Date: Sep 15, 2021
• Publicly Available Date: Apr 28, 2022
• Publisher: Institute of Electrical and Electronics Engineers
• Pages: 344-349
• Book Title: 2012 7th International Conference on System of Systems Engineering (SoSE)
• ISBN: 9781467329750
• DOI: https://doi.org/10.1109/SYSoSE.2012.6384195
• Public URL: https://hull-repository.worktribe.com/output/3797218
• Publisher URL: https://ieeexplore.ieee.org/document/6384195