Robot manipulator applied to bottle filling processes : an approach in the teaching-learning process.

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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Bibliographic Details
Main Author: Guilcazo Chasiloa, Cristian Paúl (author)
Other Authors: Nuñez Quishpe, Jefferson Stalyn (author)
Format: article
Language:eng
Published: 2023
Subjects:
REALIDAD VIRTUAL
ROBOT MANIPULADOR
CONTROL SERVO VISUAL
SCORBOT-ER-4U
Online Access:http://repositorio.espe.edu.ec/handle/21000/36966
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Summary: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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