Control of the robotic arm of six degrees of freedom, through visual feedback, for the harvest of paprika chili

Authors

  • Ricardo Rodriguez B Facultad de Ingeniería Mecánica, Universidad Nacional de Ingeniería, Perú
  • Mark Sanchez P. Facultad de Ingeniería Mecánica, Universidad Nacional de Ingeniería, Perú
  • Miguel Ravichagua I. Facultad de Ingeniería Mecánica, Universidad Nacional de Ingeniería, Perú
  • Sebastián Castillo H. Facultad de Ingeniería Mecánica, Universidad Nacional de Ingeniería, Perú

DOI:

https://doi.org/10.21754/tecnia.v21i2.97

Keywords:

computed torque, visual servoing, visual sensor

Abstract

The present document is the culmination of mechatronic interaction, between the computer vision and control of robot areas for automation process of paprika pepper's harvest. A robot of 6 DOF (degree of liberty) perform the process of harvest, this robot give to us more versatility in complex movements and operations on rural lands. To operate the movements and 3D positions of the robot we use a visual sensor and distance infrared sensor. The visual sensor gives us required images to recognize the environment, the sensor infrared measures the deep, and withthese two values we can obtain the specific location of the peppers in the robot's workspace. 

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References

[1] Gonzales, R. C.,Woods, R.E., “TratamientoDigital de Imágenes”.Addison-WesleyIberoamericana, S.A., 1996.

[2] http://code.google.com/p/cvblob/

[3] Luh, J. Y. S., Walker, M. W.,Paul,“On-Line Computational Scheme for MechanicalManipulators”, 1980,Journal of DynamicSystems, Measurement, and Control, Vol.102.

[4] Lewis, Frank L., Dawson, Darren M.,Abdallah, Chaouki T.,“Robot ManipulatorControl-Theory and Practice”,2ndedition,2004

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Published

2011-12-01

How to Cite

[1]
R. Rodriguez B, M. Sanchez P., M. Ravichagua I., and S. Castillo H., “Control of the robotic arm of six degrees of freedom, through visual feedback, for the harvest of paprika chili”, TECNIA, vol. 21, no. 2, pp. 15–20, Dec. 2011.

Issue

Vol. 21 No. 2 (2011)

Section

Articles

License

Copyright (c) 2011 TECNIA

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