Motion control of a cable-suspended robot using image recognition with coordinate transformation

Author:

Lin Jonqlan1ORCID,Chiang Cheng-Kai1

Affiliation:

1. Department of Mechanical Engineering, Chien Hsin University of Science and Technology, Taoyuan City

Abstract

This study will concern the implementation of a vision-based controller for cable-suspended robots, and especially for the pick-and-place function. This work will develop a novel algorithm that combines cable-suspended robot coordinate transformation with image recognition to manipulate the suspended gripper to the desired position for material-handling tasks. Two webcams sense the position of the end-effector; one will be used to calculate the horizontal planar coordinate of the target, and the other will be used to determine the vertical height of the target. Accordingly, the two-dimensional spatial image can be converted into three-dimensional image coordinates. Based on the sensed information, the robot can convert the position of the target to required cable lengths and then drive the servomotor to retract (or release) the cables to move the suspended gripper to the desired position. Various experiments will be conducted to verify the proposed methodology. The framework that is developed herein is easily implemented for real-time control and is suitable for inclusion in mechatronic kits in a university control course. The large variety of ideas that are addressed in this work apply to cranes, aerostats, and other large-scale manufacturing equipment that requires cable-driven robots.

Funder

Ministry of Science and Technology of the Republic of China, Taiwan

Publisher

SAGE Publications

Subject

Mechanical Engineering,Control and Systems Engineering

Cited by 4 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Flow control method in concrete particles pneumatic sweeping process based on image recognition and OPC protocol;Powder Technology;2024-06

2. Adaptive passive admittance control of a compliant collaborative robot;Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science;2023-12-27

3. Control of Beam-Pendulum Dynamics in a Tower Crane With a Slender Jib Transporting a Distributed-Mass Load;IEEE Transactions on Industrial Electronics;2023-01

4. Design and Implementation of a Cable-Driven Dexterous Continuum Manipulators in Confined Space Usage;2022 International Conference on Electrical, Computer and Energy Technologies (ICECET);2022-07-20

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