Path planning for maximizing the point of view of object using robotic arm with vision

Lee, Shu Fang (2019) Path planning for maximizing the point of view of object using robotic arm with vision. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

Inspection is a major task for checking the defect of the objects in the manufacturing company. By inspection, it means that every part of the object should be inspected. Path planning for maximizing the point of view of object is the problem of creating motion profile for obtaining more information of the object with more points of view of the object given. The objectives of this project are to design and develop a path of points on the surface of an object to maximize the point of view of the object and to validate the path planning method using error analysis. In the proposed method, a path of 5 points is generated on the surface of the hemisphere, and the movement of the robot has used inverse kinematic and trigonometry function to ensure the webcam is pointed toward the center point of the object from one point to another point. There are three experiments to be conducted for this project, which are (1) study on the percentage of error based on the proposed method in generation of points and path on the surface of the hemisphere for the tip of the end effector of KUKA youBot to be positioned, (2) study on the validity of the proposed method in directing the tip of the end effector of KUKA youBot to face toward the center point of the hemisphere, and (3) study on the validity of the proposed method in directing the webcam mounted on the tip of the end effector of KUKA youBot to face toward the center point of the object. Based on the results obtained, a path of 5 points are generated on the surface of the hemisphere for maximal point of view. The tip of the end effector of KUKA youBot is able to be positioned on the points generated with an average percentage of position error of 1.67%. Then, the tip of the end effector is able to face towards the center point of the hemisphere with the average percentage of error of 2.91% for the angle from the center of hemisphere to joint 3 of the KUKA youBot and the average percentage of position error of 1.4%. The webcam that mounted on the tip of the end effector of youBot is also able to face toward the center point of the object with the average percentage of error of 3.05% for the position of reference line for the webcam to look at. Thus, it can be said that the proposed path planning method is valid. Lastly, it is concluded that all of the objectives of this project are successfully achieved after all of the experiments are completed.

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