POSE DETERMINATION OF A 4DOF PARALLEL ROBOT END EFFECTOR USING MACHINE VISION

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GHANBARY E.; MAHBOUBKHAH M.; KARIMIAN G.

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

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Paper Information

Journal: TABRIZ JOURNAL OF ELECTRICAL ENGINEERING Year:2017 | Volume:46 | Issue:4 (78) Page(s): 0-0

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Title

POSE DETERMINATION OF A 4DOF PARALLEL ROBOT END EFFECTOR USING MACHINE VISION

Author(s)

GHANBARY E. | MAHBOUBKHAH M. | KARIMIAN G. | Issue Writer Certificate

Keywords

PARALLEL MECHANISMQ2

MACHINE VISIONQ2

STEREOQ2

FEATURE EXTRACTIONQ2

ROTATION MATRIXQ2

TRANSLATION VECTORQ2

Abstract

PARALLEL MECHANISMs are more utilized, because of their extra precision and stiffness in comparison with serial mechanisms. Measuring position and orientation (pose) of parallel robot end effector and performing kinematic calibration, is a guaranty for, moving precision of these robots. Through different measurement devices, MACHINE VISION has advantages such as low cost, simplicity in use and rather appropriate precision. In this research, in order to measure pose of end effector of a 4-DOF (degree of freedom) parallel robot, a vision-based measurement system, is designed and implemented in Matlab software. The laboratory device is a STEREO camera. Camera calibration is carried out in Matlab. A triangular shape is used as feature on the robot end effector. By processing the images acquired from pose of end effector, in designed measurement system, ROTATION MATRIX and TRANSLATION VECTOR are obtained and the exact position of the end effector is revealed. For investigating precision and accuracy of proposed measurement system, a conventional measurement method with the help of gauge block and indicator, is used. According to the nature of MACHINE VISION, the results achieved in this examination, are acceptable; although better precision can be attained by improving devices used in this research.

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APA: Copy

GHANBARY, E., MAHBOUBKHAH, M., & KARIMIAN, G.. (2017). POSE DETERMINATION OF A 4DOF PARALLEL ROBOT END EFFECTOR USING MACHINE VISION. TABRIZ JOURNAL OF ELECTRICAL ENGINEERING, 46(4 (78)), 0-0. SID. https://sid.ir/paper/355779/en

Vancouver: Copy

GHANBARY E., MAHBOUBKHAH M., KARIMIAN G.. POSE DETERMINATION OF A 4DOF PARALLEL ROBOT END EFFECTOR USING MACHINE VISION. TABRIZ JOURNAL OF ELECTRICAL ENGINEERING[Internet]. 2017;46(4 (78)):0-0. Available from: https://sid.ir/paper/355779/en

IEEE: Copy

E. GHANBARY, M. MAHBOUBKHAH, and G. KARIMIAN, “POSE DETERMINATION OF A 4DOF PARALLEL ROBOT END EFFECTOR USING MACHINE VISION,” TABRIZ JOURNAL OF ELECTRICAL ENGINEERING, vol. 46, no. 4 (78), pp. 0–0, 2017, [Online]. Available: https://sid.ir/paper/355779/en

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