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Design and Implementation of a Delta Parallel Robot with Linear Camera-Space Manipulation
| Content Provider | Semantic Scholar |
|---|---|
| Author | Ricca, Bryan Josué Rojas Álvares, Daniel Iván López Rodriguez, D. Cárdenas, Antonio Galván, Emilio J. Blanco, Alberto Ramos |
| Copyright Year | 2018 |
| Abstract | This paper presents the design, construction and control of a parallel robot for educational purposes. A Pulse Width Modulation (PWM) is implemented for motor position control. In this work, linear camera-space manipulation approach is used for vision-based control where, in order to achieve three-dimensional robot positioning, two cameras are used in order to establish the correspondence between camera and robot workspace. Once this correspondence is established, a three-dimensional maneuver objective is evaluated based on camera-space targets defined in each of the participating cameras. This maneuver objective is used to evaluate the endeffector position, which is calculated by means of the direct and inverse kinematics of the robot. A color image-segmentation algorithm is implemented in order to interpret the workspace, which consists of a mobile platform whose center and targets are defined with a specific color. Using this experimental platform, the robots achieves a positioning maneuver consisting of the grasping of objects located on the mobile platform. Experimental results are presented including aspects related to the design, construction and robot-grasping tasks. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://comrob.org/2018/openconf/modules/request.php?a=Accept&action=view.php&file=1/1850.pdf&id=1850&module=oc_proceedings |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
