Robot manipulator applied to bottle filling processes : an approach in the teaching-learning process.
In this paper, a position-based visual servo control scheme for a bottle packaging process using the ScorBot-ER-4U robot manipulator is proposed. The control scheme considers the eye-to-hand configuration and is based on the kinematic model of the manipulator robot and the perspective projection mod...
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| Format: | article |
| Jezik: | eng |
| Izdano: |
2023
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| Teme: | |
| Online pristup: | http://repositorio.espe.edu.ec/handle/21000/36966 |
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Dodaj oznaku | Sažetak: | In this paper, a position-based visual servo control scheme for a bottle packaging process using the ScorBot-ER-4U robot manipulator is proposed. The control scheme considers the eye-to-hand configuration and is based on the kinematic model of the manipulator robot and the perspective projection model of the vision camera (Pinhole Model). The proposed scheme was evaluated on a virtual environment developed in the Unity3D graphics engine; and experimentally with the ScorBot-ER-4U manipulator robot and the ZED 2 stereo vision camera. Finally, it is concluded that the results obtained by simulation and experimentally show that the control errors converge to zero asymptotically. |
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