Computer vision approach for controlling educational robotic arm based on object properties

机译：基于对象属性的教育机器人手臂的计算机视觉控制方法

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This research presents an autonomous robotic frame work for academic, vocational and training purpose. The platform is centred on a 6 Degree Of Freedom (DOF) serial robotic arm. Two on-board cameras develop a computer vision system for detection and autonomous object/target manipulation placed randomly on a target surface and controls an educational robotic arm to pick it up and move it to a predefined destination. The computer vision is initially used to identify the colour and shape of the object. The system applies Centre-Of-Mass based computation, filtering and colour segmentation algorithm to locate the target and the position of the robotic arm. The proposed platform finds its potential to teach technical courses (like Robotics, Control, Electronics, Image-processing and Computer vision) and to implement and validate advanced algorithms for object manipulation and grasping, trajectory generation, path planning, etc. Experimental results demonstrated the effectiveness and robustness of the system.

机译：这项研究提出了一种用于学术，职业和培训目的的自主机器人框架。该平台以6自由度（DOF）串行机械臂为中心。两个车载摄像头开发了一种计算机视觉系统，用于随机放置在目标表面上的检测和自主对象/目标操纵，并控制教育性机械臂将其捡起并将其移动到预定位置。最初，计算机视觉用于识别对象的颜色和形状。该系统采用基于质量中心的计算，过滤和颜色分割算法来定位机械臂的目标和位置。所提议的平台具有潜力，可以教授技术课程（例如机器人技术，控制，电子，图像处理和计算机视觉），以及实施和验证用于对象操纵和抓取，轨迹生成，路径规划等的高级算法。实验结果证明了系统的有效性和鲁棒性。

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来源
《2014 2nd International Conference on Emerging Technology Trends in Electronics, Communication and Networking》|2014年|1-9|共9页
会议地点 Surat(IN)
作者
Rai Neerparaj; Rai Bijay; Rai Pooja;
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作者单位

Electr. Electron. Dept., SMIT, Majitar, India;

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会议组织
原文格式 PDF
正文语种 eng
中图分类
关键词
control engineering education; image colour analysis; image segmentation; manipulators; mobile robots; path planning; robot vision; trajectory control; 6 DOF serial robotic arm; autonomous robotic framework; centre-of-mass based computation; colour segmentation algorithm; computer vision; educational robotic arm; filtering method; object grasping; object manipulation; onboard camera; path planning; target manipulation; technical course; trajectory generation; Cameras; Image color analysis; Information filters; Robot sen;

机译：控制工程教育;图像颜色分析;图像分割;机械手;移动机器人;路径规划;机器人视觉;轨迹控制; 6自由度串行机械臂;自主机器人框架;基于质心的计算;颜色分割算法;计算机视觉;教育性机械臂;滤波方法;对象抓取;对象操纵;车载摄像头;路径规划;目标操纵;技术课程;轨迹生成;相机;图像色彩分析;信息过滤器;机器人传感;

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专利

1. Project-Based Learning Example: Controlling an Educational Robotic Arm With Computer Vision [J] . Cabre, T.P., Cairol, Tecnologias del Aprendizaje, IEEE Revista Iberoamericana de . 2013,第3期

机译：基于项目的学习示例：使用计算机视觉控制教育性机械臂
2. 201a??Brain-Machine Interface Control of a Robotic Arm for Object Grasping is Improved With Computer-Vision Based Shared Control [J] . Tyler-Kabara Elizabeth C., Downey John, Weiss Jeffrey, Clinical neurosurgery. . 2015,第CNasuppla1期

机译：201a ??基于计算机视觉的共享控制改进了用于对象抓取的机械臂的脑机接口控制
3. Combination of Augmented Reality Based Brain- Computer Interface and Computer Vision for High-Level Control of a Robotic Arm [J] . Chen Xiaogang, Huang Xiaoshan, Wang Yijun, IEEE transactions on neural systems and rehabilitation engineering . 2020,第12期

机译：基于增强现实的大脑接口和计算机视觉的组合对机器人臂的高级控制
4. Computer vision approach for controlling educational robotic arm based on object properties [C] . Rai Neerparaj, Rai Bijay, Rai Pooja International Conference on Emerging Technology Trends in Electronics, Communication and Networking . 2014

机译：基于对象属性控制教育机器人臂的计算机视觉方法
5. Computer vision based material property extraction and datadriven deformable object modeling . [D] . Wilber, Steven C. 2012

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6. Improving Composite Tensile Properties during Resin Infusion Based on a Computer Vision Flow-Control Approach [O] . Juan-Antonio Almazán-Lázaro, Elías López-Alba, Francisco-Alberto Díaz-Garrido 2018

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7. Development of a Bio-inspired Vision System for Mobile Micro-robots:In this paper, we present a new bio-inspired vision system for mobile micro-robots. The processing method takes inspiration from vision of locusts in detecting the fast approaching objects. Research suggested that locusts use wide-field visual neuron called the lobula giant movement detector to respond to imminent collisions. We employed the locusts' vision mechanism to motion control of a mobile robot. The selected image processing method is implemented on a developed extension module using a low-cost and fast ARM processor. The vision module is placed on top of a micro-robot to control its trajectory and to avoid obstacles. The observed results from several performed experiments demonstrated that the developed extension module and the inspired vision system are feasible to employ as a vision module for obstacle avoidance and motion control. [O] . Hu, Cheng, Arvin, Farshad, Yue, Shigang 2014

机译：开发用于移动微型机器人的生物启发视觉系统：在本文中，我们提出了一种用于移动微型机器人的新型生物启发视觉系统。该处理方法从检测快速接近物体的蝗虫视觉中获取灵感。研究表明，蝗虫使用称为小叶巨型运动探测器的宽视野神经元来应对即将发生的碰撞。我们采用蝗虫的视觉机制来控制移动机器人。所选择的图像处理方法使用低成本且快速的aRm处理器在开发的扩展模块上实现。视觉模块放置在微型机器人的顶部以控制其轨迹并避开障碍物。几次进行的实验观察到的结果表明，开发的扩展模块和灵感视觉系统可用作避障和运动控制的视觉模块。
8. Parametric motion control of robotic arms: A biologically based approach using neural networks [R] . Bock, O., D'Eleuterio, G. M. T., Lipitkas, J., 1993

机译：机器人手臂的参数运动控制：使用神经网络的基于生物学的方法

Computer vision approach for controlling educational robotic arm based on object properties

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