Visual-based Control for a 2DOF Robotic Arm

Samallo, V. (2016) Visual-based Control for a 2DOF Robotic Arm. Bachelor's Thesis, Industrial Engineering and Management.

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Abstract

Visual-based control is a widely used tool for controlling mechatronic systems. Many tasks can be performed with the use of a camera, such as, but not limited to, sending a robot to a certain position, avoiding obstacles, remote control and quality control. This research deals with the implementation of visual-based control into a two degrees of freedom planar robotic arm. The goal is to be able to send the robotic arm to a certain home-position, a fixed initial position with respect to an absolute reference frame. The second aim of this research is to implement obstacle avoidance into the robotic arm, which should stop moving when it detects something close by. During this research Simulink models and Matlab scripts were created to perform the task of sending the robot arm to its home-position. Moreover, due to the implementation of the camera, it is now possible to confirm that the robot has reached its desired position. A model was also created to detect obstacles and avoid collisions with the robot. In short, the robot's movement is paused whenever an obstacle is positioned too close to the arm. Once the obstacle is removed, the movement continues. Finally, all these processes are integrated in an efficient manner. Thus the outcome of this research is a versatile and enhanced mechatronic system.

Item Type:	Thesis (Bachelor's Thesis)
Degree programme:	Industrial Engineering and Management
Thesis type:	Bachelor's Thesis
Language:	English
Date Deposited:	15 Feb 2018 08:13
Last Modified:	15 Feb 2018 08:13
URI:	https://fse.studenttheses.ub.rug.nl/id/eprint/13997

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