Visual servoing spanner picking and placement with a SCARA manipulator

Chia Yu Hu; Chang Ru Chen; Chin Hsien Tseng; Andika Pramanta Yudha; Chung Hsien Kuo

doi:10.1109/ICIT.2016.7475006

Visual servoing spanner picking and placement with a SCARA manipulator

Chia Yu Hu
, Chang Ru Chen
, Chin Hsien Tseng
, Andika Pramanta Yudha
, Chung Hsien Kuo

National Taiwan University of Science and Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

9 Scopus citations

Abstract

This paper presents a vision-based SCARA (Selective Compliance Assembly Robot Arm) system for Spanner Fetching and Placing, which can be applied in the traditional factories. The proposed SCARA discussed in this paper has about 50 cm working ranges, and contains 4 degrees of freedom. It is designed in a low cost way. Except for the motors, all the materials of the component is plastic and aluminum. The main process of the vision system consists of image calibration, image recognition and object localization. First, the image distortion can be reformed in image calibration. Second, the image of spanner placed on workplace is segmented by using color information in image recognition. Last but not least, we can obtain the information about the spanners such as center, length, slope and tool number which relates to length. Then position and rotation command can be delivered to motion controller via Modbus-TCP communication interface. Finally, the results of vision system were discussed in this paper.

Original language	English
Title of host publication	Proceedings - 2016 IEEE International Conference on Industrial Technology, ICIT 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1632-1637
Number of pages	6
ISBN (Electronic)	9781467380751
DOIs	https://doi.org/10.1109/ICIT.2016.7475006
State	Published - 19 05 2016
Externally published	Yes
Event	IEEE International Conference on Industrial Technology, ICIT 2016 - Taipei, Taiwan Duration: 14 03 2016 → 17 03 2016

Publication series

Name	Proceedings of the IEEE International Conference on Industrial Technology
Volume	2016-May

Conference

Conference	IEEE International Conference on Industrial Technology, ICIT 2016
Country/Territory	Taiwan
City	Taipei
Period	14/03/16 → 17/03/16

Bibliographical note

Publisher Copyright:
© 2016 IEEE.

Keywords

Image Processing
Object Localization
SCARA system
Vision Servo

Access to Document

10.1109/ICIT.2016.7475006

Cite this

Hu, C. Y., Chen, C. R., Tseng, C. H., Yudha, A. P., & Kuo, C. H. (2016). Visual servoing spanner picking and placement with a SCARA manipulator. In Proceedings - 2016 IEEE International Conference on Industrial Technology, ICIT 2016 (pp. 1632-1637). Article 7475006 (Proceedings of the IEEE International Conference on Industrial Technology; Vol. 2016-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIT.2016.7475006

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title = "Visual servoing spanner picking and placement with a SCARA manipulator",

abstract = "This paper presents a vision-based SCARA (Selective Compliance Assembly Robot Arm) system for Spanner Fetching and Placing, which can be applied in the traditional factories. The proposed SCARA discussed in this paper has about 50 cm working ranges, and contains 4 degrees of freedom. It is designed in a low cost way. Except for the motors, all the materials of the component is plastic and aluminum. The main process of the vision system consists of image calibration, image recognition and object localization. First, the image distortion can be reformed in image calibration. Second, the image of spanner placed on workplace is segmented by using color information in image recognition. Last but not least, we can obtain the information about the spanners such as center, length, slope and tool number which relates to length. Then position and rotation command can be delivered to motion controller via Modbus-TCP communication interface. Finally, the results of vision system were discussed in this paper.",

keywords = "Image Processing, Object Localization, SCARA system, Vision Servo",

author = "Hu, \{Chia Yu\} and Chen, \{Chang Ru\} and Tseng, \{Chin Hsien\} and Yudha, \{Andika Pramanta\} and Kuo, \{Chung Hsien\}",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; IEEE International Conference on Industrial Technology, ICIT 2016 ; Conference date: 14-03-2016 Through 17-03-2016",

year = "2016",

month = may,

day = "19",

doi = "10.1109/ICIT.2016.7475006",

language = "英语",

series = "Proceedings of the IEEE International Conference on Industrial Technology",

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Hu, CY, Chen, CR, Tseng, CH, Yudha, AP & Kuo, CH 2016, Visual servoing spanner picking and placement with a SCARA manipulator. in Proceedings - 2016 IEEE International Conference on Industrial Technology, ICIT 2016., 7475006, Proceedings of the IEEE International Conference on Industrial Technology, vol. 2016-May, Institute of Electrical and Electronics Engineers Inc., pp. 1632-1637, IEEE International Conference on Industrial Technology, ICIT 2016, Taipei, Taiwan, 14/03/16. https://doi.org/10.1109/ICIT.2016.7475006

Visual servoing spanner picking and placement with a SCARA manipulator. / Hu, Chia Yu; Chen, Chang Ru; Tseng, Chin Hsien et al.
Proceedings - 2016 IEEE International Conference on Industrial Technology, ICIT 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 1632-1637 7475006 (Proceedings of the IEEE International Conference on Industrial Technology; Vol. 2016-May).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Hu, Chia Yu

AU - Chen, Chang Ru

AU - Tseng, Chin Hsien

AU - Yudha, Andika Pramanta

AU - Kuo, Chung Hsien

PY - 2016/5/19

Y1 - 2016/5/19

N2 - This paper presents a vision-based SCARA (Selective Compliance Assembly Robot Arm) system for Spanner Fetching and Placing, which can be applied in the traditional factories. The proposed SCARA discussed in this paper has about 50 cm working ranges, and contains 4 degrees of freedom. It is designed in a low cost way. Except for the motors, all the materials of the component is plastic and aluminum. The main process of the vision system consists of image calibration, image recognition and object localization. First, the image distortion can be reformed in image calibration. Second, the image of spanner placed on workplace is segmented by using color information in image recognition. Last but not least, we can obtain the information about the spanners such as center, length, slope and tool number which relates to length. Then position and rotation command can be delivered to motion controller via Modbus-TCP communication interface. Finally, the results of vision system were discussed in this paper.

AB - This paper presents a vision-based SCARA (Selective Compliance Assembly Robot Arm) system for Spanner Fetching and Placing, which can be applied in the traditional factories. The proposed SCARA discussed in this paper has about 50 cm working ranges, and contains 4 degrees of freedom. It is designed in a low cost way. Except for the motors, all the materials of the component is plastic and aluminum. The main process of the vision system consists of image calibration, image recognition and object localization. First, the image distortion can be reformed in image calibration. Second, the image of spanner placed on workplace is segmented by using color information in image recognition. Last but not least, we can obtain the information about the spanners such as center, length, slope and tool number which relates to length. Then position and rotation command can be delivered to motion controller via Modbus-TCP communication interface. Finally, the results of vision system were discussed in this paper.

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KW - Object Localization

KW - SCARA system

KW - Vision Servo

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Hu CY, Chen CR, Tseng CH, Yudha AP, Kuo CH. Visual servoing spanner picking and placement with a SCARA manipulator. In Proceedings - 2016 IEEE International Conference on Industrial Technology, ICIT 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 1632-1637. 7475006. (Proceedings of the IEEE International Conference on Industrial Technology). doi: 10.1109/ICIT.2016.7475006

Visual servoing spanner picking and placement with a SCARA manipulator

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Bibliographical note

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