Paper Title:
Vision-Based Trajectory Generation for a Two-Link Robotic Arm Using Quadtree Decomposition and Curve Smoothing
  Abstract

In this article, the development of an autonomous robot trajectory generation system based on a single eye-in-hand webcam, where the workspace map is not known a priori, is described. The system makes use of image processing methods to identify locations of obstacles within the workspace and the Quadtree Decomposition algorithm to generate collision free paths. The shortest path is then automatically chosen as the path to be traversed by the robot end-effector. The method was implemented using MATLAB running on a PC and tested on a two-link SCARA robotic arm. The tests were successful and indicate that the method could be feasibly implemented on many practical applications.

  Info
Periodical
Advanced Materials Research (Volumes 108-111)
Edited by
Yanwen Wu
Pages
1439-1445
DOI
10.4028/www.scientific.net/AMR.108-111.1439
Citation
S. Shojaeipour, S. M. Haris, E. Eftekhari, A. Shojaeipour, R. Daghigh, "Vision-Based Trajectory Generation for a Two-Link Robotic Arm Using Quadtree Decomposition and Curve Smoothing", Advanced Materials Research, Vols. 108-111, pp. 1439-1445, 2010
Online since
May 2010
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Ciprian Lapusan, Vistrian Maties, Radu Balan, Olimpiu Hancu
Abstract:In the design process of mechatronic systems rapid control prototyping had became an indispensable method for developing and testing control...
247
Authors: Hong Min Zhang
Abstract:Path planning is one of the most important and challenging problems of mobile robot. It is one of the keys that will make the mobile robots...
677
Authors: Yu Jie Cui
Chapter 8: Measurement
Abstract:This paper presents a modular robot called RBT-6T/S01SM. This robot composed of 6 basic modules which could composed 5 kinds of robot. Each...
2039
Authors: Guo Peng Zhang, Bo Wang
Chapter 3: Mechatronics and Automation
Abstract:The paper takes robotics remote sensing as research background. Robotics remote sensing is a newly developed research area. Compared with...
2074
Authors: S. Nader Nabavi, Alireza Akbarzadeh, Saeed Abolghasemi
Chapter 6: Robotics: Modelling, Simulation etc.
Abstract:In this paper, kinematic relationships for a 3-PRR planar parallel robot are first presented. The robot dynamics equations are formulated...
414