Control of Robotic Arm with Visual System

Abstract

This paper is an overview of a preliminary attempt to design a sorting system with the ability to sort objects by colour, shape, and their combination. Vision-guided motion is attracting considerable interest due to the effective replacement of manpower of repetitive work tasks in manufacturing. The first studies of this sorting system dealt with the analysis and control of the used robotic arm and proper capturing of a work scene. The images obtained by a camera are processed with object detection algorithms. Then the object's centre of mass is calculated and converted to control the movement of the robotic arm. Furthermore, the article deals with the analysis of the used hardware and the creation of complex software with a graphical user interface, and the subsequent verification of the reliability of search methods for a different quality of the input images. The system can be used for educational purposes and with some adaptations applied to an industrial environment.