Control Algorithm for an Industrial Robotic Arm Using Computer Vision
Germán Buitrago Salazar, Olga Ramos, Darío Amaya · International Review of Mechanical Engineering (IREME) · 2015
This paper presents the results of applying a proposed control algorithm for a Mitsubishi industrial robot by using a computer vision system. A Kinect was placed on top of the work cell in order to sense the position of the robot. The Kinect captures the RGB-D image so it can be processed to determine the robot's position relative to a reference object or guide. The path that the robotic arm follows depends on the trajectory of the guide object and the reference values of the system. Three proportional controllers (one for each axis) were designed to stabilize the robot's position while the error signal reaches zero. The control algorithm was developed in C#, using the Ethernet port of the arm. This project allows the users to design and develop their own control strategies, without the need of using the development tools of the manufacturer.