Abstract
The rapid development of technology is causing the replacement of many traditional manufacture industries by automation. Robotic arms are now commonly used in many sectors. The requirements for robotic arms in different sectors are quite different; but, in general, robotic arms not only save cost and man power, they also improve safety. The aim of this study was an investigation of the integration of image identification with robotic arms. To do this, the Denavit–Hartenberg transformation matrix was used to analyze the mechanical kinematics of the joints of each robotic arm axis. This allowed the spatial relationships between the Cartesian 3 D coordinate system and the joint of each axis to be determined and communication between the robotic arm and image identification to be established. A robotic arm prototype platform with automatic image identification and calibration was constructed using a quick and robust method. Several of the variables that exist in real robotic arm applications have been solved in this study: primarily the accuracy error that occurs when repeated gripping of workpieces is done and a movement and placement track is set up. Deviations occur frequently and if image identification can be applied to offset repeated inaccuracy, the quality of finished products will be more consistent. The Universal Robots 5 six-axis robot and cameras, which use a filter, Sobel computation, and Hough transformation computer vision image processing technology, together comprise a system that can automatically identify the workpiece and carry out loading and unloading accurately.
Highlights
The purpose of the use of robotic arm is to effectively reproduce the functions of a human arm and to carry out operations under automatic control
The robotic arm used in this paper was a UR5 six-axis robot (Universal Robot 5).[3,4]
The robotic arm carries out the necessary movement to grip the workpiece
Summary
The purpose of the use of robotic arm is to effectively reproduce the functions of a human arm and to carry out operations under automatic control These arms are commonly used on many different industrial production lines. Their primary function is to carry out repetitive work more efficiently and faster than humans.[1,2] The most obvious difference between a robotic arm and normal automatic machinery is the multiple links and joints. With these functions, the robotic arm can freely move in three-dimensional (3D) space. The robotic arm used in this paper was a UR5 six-axis robot (Universal Robot 5).[3,4] The six-axis control involves the kinamatics[5] of the Denavit–
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