PC-BASED 5DOF INDUSTRIAL ROBOTIC ARM WITH OBJECT COLOR SORTING BY IMAGE PROCESSING

Abstract

Robotics arm getting popular in a wide range of application ranging from manufacturing in order to handle various tasks that might be difficult, hazardous, or boring from human being. The robotic arm in this research is a 5DOF vertical articulated education robot and its all joints are revolute. It is designed with a gripper to perform pick and place task. By merging image processing to this robotic arm, it is more efficient. The robot arm can not only pick and place the object to the desired position of the users, but also it can sort the color of the objects. As the same time, robot and machine vision systems can also perform objective measurements, such as determining a spark plug gap or providing location information that guides a robot to align parts in a manufacturing process. This research presents the modelling and analysis of forward kinematics of the robotic arm used in this research and the software development of 5DOF industrial robotic arm by using a new PC-based control and Image processing by NI Vision Builder is merged to this control method to sort the object colors and place them to the desired positions. PC-and EtherCAT based control technology from BECKHOFF is mainly used as control system for robotics arm to express this task. According to the automated applications in which a combination of hardware and software provide operational guidance to devices in the execution of their functions based on the capture and processing of images.