Visual Servo Algorithm Of Robot Arm For Pick And Place Application

Abstract

The robot arm is a device consisting of a moving chain of links connected by joints. Electrical motors are frequently used to move each robot arm joint. An end-effector that can move freely in space is usually attached to one end of the robot platform, which is fixed. Robot arms can do repetitive operations at rates and precision far exceeding human operators. Nowadays, robot arm systems are widely used worldwide to increase the quality and efficiency of the manufacturing process in the industry. Typical applications of the robot arm system are assembly, painting, welding, pick and place operation, and others. Besides, many industries employ robot arms for various jobs such as selecting and putting, painting, and material handling. However, one of the most challenging issues in completing these jobs is determining the target location of the robot arm's end-effector. There are two different methods for analyzing the robot arm's movement: forward and inverse kinematic analysis. Based on the visual servo algorithm, this study uses inverse kinematics to execute the pick and place operation. First, an object recognition algorithm is implemented to identify the object to be grasped. Then, an algorithm to avoid any obstacles is done. The study's findings show that good system performance has been obtained in all three algorithms: first, object recognition algorithm, second, obstacle avoidance algorithm, and lastly, visual servobased pick and place operation. Thus, it can be concluded that the robot arm's visual servo algorithm is suitable for pick-and-place applications.