2D IMAGE-BASED INDUSTRIAL ROBOT END EFFECTOR TRAJECTORY CONTROL ALGORITHM
Anna CZARNECKA
l.sobaszek@pollub.pl* Lublin University of Technology, Faculty of Mechanical Engineering, Institute of Technological Systems of Information, Nadbystrzycka 36, 20-618 Lublin (Portugal)
Łukasz SOBASZEK
Lublin University of Technology, Faculty of Mechanical Engineering, Institute of Technological Systems of Information, Nadbystrzycka 36, 20-618 Lublin (Poland)
Antoni ŚWIĆ
Lublin University of Technology, Faculty of Mechanical Engineering, Institute of Technological Systems of Information, Nadbystrzycka 36, 20-618 Lublin (Poland)
Abstract
This paper presents an algorithm for programming an industrial robot’s end effector path based on 2D images. The first section gives a brief overview of modern solutions for industrial robot implementation. The next section describes the test set-up and the software used in tests. The work also presents the key elements of the controller algorithm and their operation: 2D image processing with MATLAB software, generating the code for robot control in AS language, and implementation of the produced codes to the Kawasaki RS003N robot.
Keywords:
industrial robots, robots programming, AS language, MATLABReferences
Grobelny, M., Jarosiński, S., Piłat, M., Pieniak, D., & Sobaszek, Ł. (2016). Projekt aplikacji komputerowej umożliwiającej sterowanie robotem przemysłowym kawasaki RS003N. Zeszyty Naukowe Wydziału Elektroniki i Informatyki, 10, 163–176.
Google Scholar
Haage, M., Piperagkas, G., Papadopoulos C., Mariolis I., Malec J., Bekiroglu Y., Hedelind M., & Tzovaras D. (2017). Teaching Assembly by Demonstration Using Advanced Human Robot Interaction and a Knowledge Integration Framework. Procedia Manufacturing, 11, 164–173. https://doi.org/10.1016/j.promfg.2017.07.221
DOI: https://doi.org/10.1016/j.promfg.2017.07.221
Google Scholar
Hajduk M., & Koukolová L. (2015). Trends in Industrial and Service Robot Application. Applied Mechanics and Materials, 791, 161–165. https://doi.org/10.4028/www.scientific.net/AMM.791.161
DOI: https://doi.org/10.4028/www.scientific.net/AMM.791.161
Google Scholar
Hajduk, M., Jenčik, P., Jezný, J., & Vargovčik, L. (2013). Trends in industrial robotics development. Applied Mechanics and Materials, 282, 1–6. https://doi.org/10.4028/www.scientific.net/AMM.282.1
DOI: https://doi.org/10.4028/www.scientific.net/AMM.282.1
Google Scholar
Jin L., Li, S., Yu, J. & He, J. (2018), Robot manipulator control using neural networks: A survey. Neurocomputing, 285, 23–34. https://doi.org/10.1016/j.neucom.2018.01.002
DOI: https://doi.org/10.1016/j.neucom.2018.01.002
Google Scholar
Kawasaki Heavy Industries. (2010). AS Language Programming.
Google Scholar
Kawasaki Heavy Industries. (2010). Kawasaki Robots User Manual. Riexinger Information. (n.d.). Retrieved May 20, 2017, from https://riex.de/automatisierung/roboterfraesanlage
Google Scholar
Sample image [online image]. (2014). Retrieved May 20, 2017, from http://www.boomsbeat.com/articles/1875/20140327
Google Scholar
Sobaszek, Ł., Gola, A., & Świć A. (2017). Kierunki rozwoju robotyki w aspekcie projektowania współczesnych systemów produkcyjnych. In R. Knosala (Eds.), Innowacje w zarządzaniu i inżynierii produkcji (pp. 460–471). Opole: Oficyna Wydawnicza Polskiego Towarzystwa Zarządzania Produkcją.
Google Scholar
Sobaszek, Ł., Gola, A., & Varga, J. (2016). Virtual designing of robotic workstations. Applied Mechanics and Materials, 844, 31–37. https://doi.org/10.4028/www.scientific.net/AMM.844.31
DOI: https://doi.org/10.4028/www.scientific.net/AMM.844.31
Google Scholar
W fabryce Audi roboty transportują samochody. (n.d.). Retrieved March 15, 2018, from Audi Autorund Website, http://autorud.pl/audiblog/w-fabryce-audi-roboty-transportuja-samochody
Google Scholar
Wan, W., Lu, F., Wu, Z., & Harada, K. (2017). Teaching robots to do object assembly using multimodal 3D vision. Neurocomputing, 259, 85–93. https://doi.org/10.1016/j.neucom.2017.01.077.
DOI: https://doi.org/10.1016/j.neucom.2017.01.077
Google Scholar
Xu, Y., Yang, Ch., Zhong, J., Wang, N., & Zhao, L. (2018). Robot teaching by teleoperation based on visual interaction and extreme learning machine. Neurocomputing, 275, 2093–2103. https://doi.org/10.1016/j.neucom.2017.10.034
DOI: https://doi.org/10.1016/j.neucom.2017.10.034
Google Scholar
Authors
Anna CZARNECKAl.sobaszek@pollub.pl
* Lublin University of Technology, Faculty of Mechanical Engineering, Institute of Technological Systems of Information, Nadbystrzycka 36, 20-618 Lublin Portugal
Authors
Łukasz SOBASZEKLublin University of Technology, Faculty of Mechanical Engineering, Institute of Technological Systems of Information, Nadbystrzycka 36, 20-618 Lublin Poland
Authors
Antoni ŚWIĆLublin University of Technology, Faculty of Mechanical Engineering, Institute of Technological Systems of Information, Nadbystrzycka 36, 20-618 Lublin Poland
Statistics
Abstract views: 128PDF downloads: 25
License
This work is licensed under a Creative Commons Attribution 4.0 International License.
All articles published in Applied Computer Science are open-access and distributed under the terms of the Creative Commons Attribution 4.0 International License.
Most read articles by the same author(s)
- Jarosław ZUBRZYCKI, Antoni ŚWIĆ, Łukasz SOBASZEK, Juraj KOVAC, Ruzena KRALIKOVA, Robert JENCIK, Natalia SMIDOVA, Polyxeni ARAPI, Peter DULENCIN, Jozef HOMZA, CYBER-PHYSICAL SYSTEMS TECHNOLOGIES AS A KEY FACTOR IN THE PROCESS OF INDUSTRY 4.0 AND SMART MANUFACTURING DEVELOPMENT , Applied Computer Science: Vol. 17 No. 4 (2021)
Similar Articles
- Kuppan Chetty RAMANATHAN, Manju MOHAN, Joshuva AROCKIA DHANRAJ, BACKWARD MOTION PLANNING AND CONTROL OF MULTIPLE MOBILE ROBOTS MOVING IN TIGHTLY COUPLED FORMATIONS , Applied Computer Science: Vol. 17 No. 3 (2021)
- Hanan M. SHUKUR, Shavan ASKAR, Subhi R.M. ZEEBAREE, THE UTILIZATION OF 6G IN INDUSTRY 4.0 , Applied Computer Science: Vol. 20 No. 2 (2024)
- Martin KRAJČOVIČ, Patrik GRZNÁR, UTILISATION OF EVOLUTION ALGORITHM IN PRODUCTION LAYOUT DESIGN , Applied Computer Science: Vol. 13 No. 3 (2017)
- Jakub ANCZARSKI, Adrian BOCHEN, MArcin GŁĄB, Mikolaj JACHOWICZ, Jacek CABAN, Radosław CECHOWICZ, A METHOD OF VERIFYING THE ROBOT'S TRAJECTORY FOR GOALS WITH A SHARED WORKSPACE , Applied Computer Science: Vol. 18 No. 1 (2022)
- Mohanad ABDULHAMID, Otieno ODONDI, Muaayed AL-RAWI, COMPUTER VISION BASED ON RASPBERRY PI SYSTEM , Applied Computer Science: Vol. 16 No. 4 (2020)
- Andrzej Jardzioch, Wioletta Marczak, APPLICATION OF A FUZZY CONTROLLER IN THE PROCESS OF AUTOMATED POLYETHYLENE FILM THICKNESS CONTROL , Applied Computer Science: Vol. 17 No. 3 (2021)
- Yehor TATARCHENKO, Volodymyr LYFAR, Halyna TATARCHENKO, INFORMATION MODEL OF SYSTEM OF SUPPORT OF DECISION MAKING DURING MANAGEMENT OF IT COMPANIES , Applied Computer Science: Vol. 16 No. 1 (2020)
- Thanh-Nghia NGUYEN, Thanh-Hai NGUYEN, Ba-Viet NGO, R PEAK DETERMINATION USING A WDFR ALGORITHM AND ADAPTIVE THRESHOLD , Applied Computer Science: Vol. 18 No. 3 (2022)
- Jarosław WIKAREK, Paweł SITEK, Mieczysław JAGODZIŃSKI, A DECLARATIVE APPROACH TO SHOP ORDERS OPTIMIZATION , Applied Computer Science: Vol. 15 No. 4 (2019)
- Benjamin KOMMEY, Ernest Ofosu ADDO, Elvis TAMAKLOE, Eric Tutu TCHAO, Henry NUNOO-MENSAH, A SIX-PORT MEASUREMENT DEVICE FOR HIGH POWER MICROWAVE VECTOR NETWORK ANALYSIS , Applied Computer Science: Vol. 18 No. 3 (2022)
You may also start an advanced similarity search for this article.
