SCARA Robot Manipulator Controller Design by using the developed Image Processing Algorithm

• Main Authors: BANALATA ＢＥＲＡ, 白若妮
• Other Authors: LIANG, JIN-WEI
• Format: Others
• Language: en_US
• Published: 2019
• Online Access: http://ndltd.ncl.edu.tw/handle/5gn73v

碩士 === 明志科技大學 === 機械工程系機械與機電工程碩士班 === 108 === Robotic Manipulators play a very important role in today’s Industrial Automation. In this research, we have tried to develop a SCARA pick and place system by integrating the vision system and control. The vision system uses a Digital Image Processing algorithm to identify various shapes, colors, orientation and depth of an object, it was programmed in MATLAB software and then combined with the control program in LabVIEW to complete the system. A PCI-1265, 6-axis motion control card is used to control the different axis of the robotic arm. The robotic arm is then made to trace the path with the help of a control law such as PID, SMC, etc. The control performances are recorded and compared. This research work aims to provide a methodology to complete a pick and place SCARA robot system and apply better control laws to enhance the precision and accuracy of the system and thus help in future automation needs.