his.sePublications
3031323334353633 of 47
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Vision Based Control for Industrial Robots: Research and implementation
University of Skövde, School of Engineering Science.
2019 (English)Independent thesis Basic level (degree of Bachelor), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

The automation revolution already helps in many tasks that are now performed by robots.  Increases in the complexity of problems regarding robot manipulators require new approaches or alternatives in order to solve them. This project comprises a research in different available software for implementing easy and fast visual servoing tasks controlling a robot manipulator. It focuses on out-of-the-box solutions. Then, the tools found are applied to implement a solution for controlling an arm from Universal Robots. The task is to follow a moving object on a plane with the robot manipulator. The research compares the most popular software, the state-of-the-art alternatives, especially in computer vision and also robot control. The implementation aims to be a proof of concept of a system divided by each functionality (computer vision, path generation and robot control) in order to allow software modularity and exchangeability. The results show various options for each system to take into consideration. The implementation is successfully completed, showing the efficiency of the alternatives examined. The chosen software is MATLAB and Simulink for computer vision and trajectory calculation interfacing with Robotic Operating System (ROS). ROS is used for controlling a UR3 arm using ros_control and ur_modern_driver packages.  Both the research and the implementation present a first approach for further applications and understanding over the current technologies for visual servoing tasks. These alternatives offer different easy, fast, and flexible methods to confront complex computer vision and robot control problems.

Place, publisher, year, edition, pages
2019. , p. 68
Keywords [en]
Computer vision, Robot arm, Ros, Matlab, Ros industrial, Simulink, Universal robots, Perception, Proof of concept, Camera calibration, Kalman filter
National Category
Other Engineering and Technologies not elsewhere specified
Identifiers
URN: urn:nbn:se:his:diva-17583OAI: oai:DiVA.org:his-17583DiVA, id: diva2:1345418
Subject / course
Automation Engineering
Educational program
Industrial Automation Engineer
Supervisors
Examiners
Available from: 2019-08-26 Created: 2019-08-23 Last updated: 2019-08-26Bibliographically approved

Open Access in DiVA

Vision Based Control for Industrial Robots: Research and implementation(2395 kB)14 downloads
File information
File name FULLTEXT01.pdfFile size 2395 kBChecksum SHA-512
b99dcd74a9f5285c641735e26318dc78d0bff45c7071a423de18058cd976dd561c54369466368f598cc9aa73f7078eb7a6b036023d1b2bb7e15f3dfa636cafde
Type fulltextMimetype application/pdf
PresentationVideo(47678 kB)68 downloads
File information
File name MOVIE01.mp4File size 47678 kBChecksum SHA-512
a1272b08500c7ff1c9569fe7e1ec8e39e381f9d89c95e9fdf2e88a2bf1f7ad4415c07d59af031045672722692ede951970dade807caed1d0ba59808861f094c2
Type movieMimetype video/mp4

By organisation
School of Engineering Science
Other Engineering and Technologies not elsewhere specified

Search outside of DiVA

GoogleGoogle Scholar
Total: 14 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 51 hits
3031323334353633 of 47
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf