Assisted Operation of a Robotic Arm Based on Stereo Vision for Positioning near an Explosive Device
This document presents an assisted operation system of a robotic arm for positioning near an explosive device selected by the user through the visualization of the cameras on the screen. Two non-converging cameras mounted on the robotic arm in camera-in-hand configuration provide the three-dimension...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-09-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/11/5/100 |
| _version_ | 1797470023370932224 |
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| author | Andres Montoya Angulo Lizardo Pari Pinto Erasmo Sulla Espinoza Yuri Silva Vidal Elvis Supo Colquehuanca |
| author_facet | Andres Montoya Angulo Lizardo Pari Pinto Erasmo Sulla Espinoza Yuri Silva Vidal Elvis Supo Colquehuanca |
| author_sort | Andres Montoya Angulo |
| collection | DOAJ |
| description | This document presents an assisted operation system of a robotic arm for positioning near an explosive device selected by the user through the visualization of the cameras on the screen. Two non-converging cameras mounted on the robotic arm in camera-in-hand configuration provide the three-dimensional (3D) coordinates of the object being tracked, using a 3D reconstruction technique with the help of the continuously adaptive mean shift (CAMSHIFT) algorithm for object tracking and feature matching. The inverse kinematics of the robot is implemented to locate the end effector close to the explosive so that the operator can perform the operation of grabbing the grenade more easily. Inverse kinematics is implemented in its geometric form, thus reducing the computational load. Tests conducted with various explosive devices verified the effectiveness of the system in locating the robotic arm in the desired position. |
| first_indexed | 2024-03-09T19:31:54Z |
| format | Article |
| id | doaj.art-9cb455b9646942b6bdab2ae2cc4ba42b |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-09T19:31:54Z |
| publishDate | 2022-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-9cb455b9646942b6bdab2ae2cc4ba42b2023-11-24T02:23:39ZengMDPI AGRobotics2218-65812022-09-0111510010.3390/robotics11050100Assisted Operation of a Robotic Arm Based on Stereo Vision for Positioning near an Explosive DeviceAndres Montoya Angulo0Lizardo Pari Pinto1Erasmo Sulla Espinoza2Yuri Silva Vidal3Elvis Supo Colquehuanca4Department of Electronic Engineering, Universidad Nacional de San Agustín de Arequipa, Arequipa 04001, PeruDepartment of Electronic Engineering, Universidad Nacional de San Agustín de Arequipa, Arequipa 04001, PeruDepartment of Electronic Engineering, Universidad Nacional de San Agustín de Arequipa, Arequipa 04001, PeruDepartment of Electronic Engineering, Universidad Nacional de San Agustín de Arequipa, Arequipa 04001, PeruDepartment of Electronic Engineering, Universidad Nacional de San Agustín de Arequipa, Arequipa 04001, PeruThis document presents an assisted operation system of a robotic arm for positioning near an explosive device selected by the user through the visualization of the cameras on the screen. Two non-converging cameras mounted on the robotic arm in camera-in-hand configuration provide the three-dimensional (3D) coordinates of the object being tracked, using a 3D reconstruction technique with the help of the continuously adaptive mean shift (CAMSHIFT) algorithm for object tracking and feature matching. The inverse kinematics of the robot is implemented to locate the end effector close to the explosive so that the operator can perform the operation of grabbing the grenade more easily. Inverse kinematics is implemented in its geometric form, thus reducing the computational load. Tests conducted with various explosive devices verified the effectiveness of the system in locating the robotic arm in the desired position.https://www.mdpi.com/2218-6581/11/5/100assisted operationCAMSHIFTrobotic armexplosive device |
| spellingShingle | Andres Montoya Angulo Lizardo Pari Pinto Erasmo Sulla Espinoza Yuri Silva Vidal Elvis Supo Colquehuanca Assisted Operation of a Robotic Arm Based on Stereo Vision for Positioning near an Explosive Device Robotics assisted operation CAMSHIFT robotic arm explosive device |
| title | Assisted Operation of a Robotic Arm Based on Stereo Vision for Positioning near an Explosive Device |
| title_full | Assisted Operation of a Robotic Arm Based on Stereo Vision for Positioning near an Explosive Device |
| title_fullStr | Assisted Operation of a Robotic Arm Based on Stereo Vision for Positioning near an Explosive Device |
| title_full_unstemmed | Assisted Operation of a Robotic Arm Based on Stereo Vision for Positioning near an Explosive Device |
| title_short | Assisted Operation of a Robotic Arm Based on Stereo Vision for Positioning near an Explosive Device |
| title_sort | assisted operation of a robotic arm based on stereo vision for positioning near an explosive device |
| topic | assisted operation CAMSHIFT robotic arm explosive device |
| url | https://www.mdpi.com/2218-6581/11/5/100 |
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