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Mathematical Models for a Robot Arm Control SystemStefan Gheorghe PENTIUC, Radu Daniel VATAVU, Remus Catalin PRODAN, Leonard IURESCU, Tudor Ioan CERLINCA, Cristian IVANCESCU
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robot control, image processing, automatic self calibration, video motion detection, edge detection
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About this article
Date of Publication: 2005-04-02
Volume 5, Issue 1, Year 2005, On page(s): 91 - 95
ISSN: 1582-7445, e-ISSN: 1844-7600
Digital Object Identifier: Not assigned
The control system for a robot arm is an ongoing image processing project for which many enhancements have been done during the last years. The paper introduces a new control system for a robot arm, developed in the Electrical Engineering Department. The control is represented by the robot's movements of grabbing and moving objects located on an operational table to user selected destination points. The enhancements involve robot visual-based automatic calibration with respect to the working field axes and scale, fast and robust object detection. A self-calibration algorithm, based on video motion and color detection, is used in order to provide a good conversion of the objects' coordinates from the image space into the working area coordinates system. The algorithm proves to be general enough to be employed in other similar image processing based scenarios where self-calibration might be useful.
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Faculty of Electrical Engineering and Computer Science
Stefan cel Mare University of Suceava, Romania
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