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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| Materialtyp: | article |
| Språk: | eng |
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2023
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| Länkar: | http://repositorio.espe.edu.ec/handle/21000/36966 |
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| author | Guilcazo Chasiloa, Cristian Paúl |
| author2 | Nuñez Quishpe, Jefferson Stalyn |
| author2_role | author |
| author_facet | Guilcazo Chasiloa, Cristian Paúl Nuñez Quishpe, Jefferson Stalyn |
| author_role | author |
| collection | Repositorio Universidad de las Fuerzas Armadas |
| dc.contributor.none.fl_str_mv | Ortiz Moreano, Jessica Sofia Andaluz Ortiz, Víctor Hugo |
| dc.creator.none.fl_str_mv | Guilcazo Chasiloa, Cristian Paúl Nuñez Quishpe, Jefferson Stalyn |
| dc.date.none.fl_str_mv | 2023-09-26T16:13:38Z 2023-09-26T16:13:38Z 2023-08-22 |
| dc.format.none.fl_str_mv | application/pdf application/pdf |
| dc.identifier.none.fl_str_mv | Guilcazo Chasiloa, Cristian Paúl. Nuñez Quishpe, Jefferson Stalyn. (2023) Robot manipulator applied to bottle filling processes : an approach in the teaching-learning process. Carrera de Ingeniería en Electrónica e Instrumentación. Universidad de las Fuerzas Armadas ESPE. ESPEL. Sede Latacunga. ENI-0513 http://repositorio.espe.edu.ec/handle/21000/36966 |
| dc.language.none.fl_str_mv | eng |
| dc.publisher.none.fl_str_mv | Universidad de las Fuerzas Armadas ESPE. ESPEL. Carrera de Ingeniería en Electrónica e Instrumentación. |
| dc.rights.none.fl_str_mv | info:eu-repo/semantics/openAccess |
| dc.source.none.fl_str_mv | reponame:Repositorio Universidad de las Fuerzas Armadas instname:Universidad de las Fuerzas Armadas instacron:ESPE |
| dc.subject.none.fl_str_mv | REALIDAD VIRTUAL ROBOT MANIPULADOR CONTROL SERVO VISUAL SCORBOT-ER-4U |
| dc.title.none.fl_str_mv | Robot manipulator applied to bottle filling processes : an approach in the teaching-learning process. |
| dc.type.none.fl_str_mv | info:eu-repo/semantics/publishedVersion info:eu-repo/semantics/article |
| description | 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. |
| eu_rights_str_mv | openAccess |
| format | article |
| id | ESPE_308ad63db5297dfb9434dfeb249bf93b |
| identifier_str_mv | Guilcazo Chasiloa, Cristian Paúl. Nuñez Quishpe, Jefferson Stalyn. (2023) Robot manipulator applied to bottle filling processes : an approach in the teaching-learning process. Carrera de Ingeniería en Electrónica e Instrumentación. Universidad de las Fuerzas Armadas ESPE. ESPEL. Sede Latacunga. ENI-0513 |
| instacron_str | ESPE |
| institution | ESPE |
| instname_str | Universidad de las Fuerzas Armadas |
| language | eng |
| network_acronym_str | ESPE |
| network_name_str | Repositorio Universidad de las Fuerzas Armadas |
| oai_identifier_str | oai:repositorio.espe.edu.ec:21000/36966 |
| publishDate | 2023 |
| publisher.none.fl_str_mv | Universidad de las Fuerzas Armadas ESPE. ESPEL. Carrera de Ingeniería en Electrónica e Instrumentación. |
| reponame_str | Repositorio Universidad de las Fuerzas Armadas |
| repository.mail.fl_str_mv | . |
| repository.name.fl_str_mv | Repositorio Universidad de las Fuerzas Armadas - Universidad de las Fuerzas Armadas |
| repository_id_str | 2042 |
| spelling | Robot manipulator applied to bottle filling processes : an approach in the teaching-learning process.Guilcazo Chasiloa, Cristian PaúlNuñez Quishpe, Jefferson StalynREALIDAD VIRTUALROBOT MANIPULADORCONTROL SERVO VISUALSCORBOT-ER-4UIn 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.ESPELUniversidad de las Fuerzas Armadas ESPE. ESPEL. Carrera de Ingeniería en Electrónica e Instrumentación.Ortiz Moreano, Jessica SofiaAndaluz Ortiz, Víctor Hugo2023-09-26T16:13:38Z2023-09-26T16:13:38Z2023-08-22info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfapplication/pdfGuilcazo Chasiloa, Cristian Paúl. Nuñez Quishpe, Jefferson Stalyn. (2023) Robot manipulator applied to bottle filling processes : an approach in the teaching-learning process. Carrera de Ingeniería en Electrónica e Instrumentación. Universidad de las Fuerzas Armadas ESPE. ESPEL. Sede Latacunga.ENI-0513http://repositorio.espe.edu.ec/handle/21000/36966enginfo:eu-repo/semantics/openAccessreponame:Repositorio Universidad de las Fuerzas Armadasinstname:Universidad de las Fuerzas Armadasinstacron:ESPE2024-07-27T09:48:34Zoai:repositorio.espe.edu.ec:21000/36966Institucionalhttps://repositorio.espe.edu.ec/Universidad públicahttps://www.espe.edu.ec/https://repositorio.espe.edu.ec/oai.Ecuador...opendoar:20422026-04-22T15:49:30.948311Repositorio Universidad de las Fuerzas Armadas - Universidad de las Fuerzas Armadastrue |
| spellingShingle | Robot manipulator applied to bottle filling processes : an approach in the teaching-learning process. Guilcazo Chasiloa, Cristian Paúl REALIDAD VIRTUAL ROBOT MANIPULADOR CONTROL SERVO VISUAL SCORBOT-ER-4U |
| status_str | publishedVersion |
| title | Robot manipulator applied to bottle filling processes : an approach in the teaching-learning process. |
| title_full | Robot manipulator applied to bottle filling processes : an approach in the teaching-learning process. |
| title_fullStr | Robot manipulator applied to bottle filling processes : an approach in the teaching-learning process. |
| title_full_unstemmed | Robot manipulator applied to bottle filling processes : an approach in the teaching-learning process. |
| title_short | Robot manipulator applied to bottle filling processes : an approach in the teaching-learning process. |
| title_sort | Robot manipulator applied to bottle filling processes : an approach in the teaching-learning process. |
| topic | REALIDAD VIRTUAL ROBOT MANIPULADOR CONTROL SERVO VISUAL SCORBOT-ER-4U |
| url | http://repositorio.espe.edu.ec/handle/21000/36966 |