Robotic arm grasping and placing using edge visual detection system

摘要

In recent years, the research of autonomous robotic arms has received a great attention in both academics and industry. Therefore, this paper aims to develop the object visional detection system that can be applied to the robotic arm grasping and placing. The proposed scheme can accurately measure the relative distance between the object and robot arm using the edge detection algorithm with a camera device. Its process involves the color differentiating of input visual from the camera to locate the candidate block of fitting color requirements and thereafter define the sector. Subsequently, this visual system undergoes morphological binarization processing and convex hull calculation to find out the target's outline, and then it can apply the shape matching module to locate the target in vision. Taking visual proportion into consideration, the relative distance between target and robot arm is calculated for the arm to grip the target so that the arm is able to place object into a paper holder, where the vision of paper holder is obtained to detect its shape of hole. The experimental results have confirmed that the self-controlled robotic arm can put the object into the paper holder successfully.