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DEVELOPMENT OF AUTOMATIC TEACHING METHOD USING STEREO CAMERA FOR SCARA ROBOTS
1. VIETNAM NATIONAL UNIVERSITY HO CHI MINH CITY
HO CHI MINH UNIVERSITY OF TECHNOLOGY
FACULTY OF ELECTRICAL AND ELECTRONICS ENGINEERING
DEPT OF CONTROL ENGINEERING AND AUTOMATION
GRADUATION ESSAY
DEVELOPMENT OF AUTOMATIC TEACHING METHOD
USING STEREO CAMERA FOR SCARA ROBOTS
SVTH:
Phạm Phước Dũng 1710875
GVHD:
TS. Nguyễn Hoàng Giáp
26/12/2022
6. 1.1. Reasons for choosing the topic
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The teaching-less method for robots is being strongly developed in the world because
of the advantages compared to the traditional teaching ones.
The successful development of this topic will increase the diversity of robot applications
by solving problems that cannot be solved by traditional teaching methods.
Remote robot-assisted surgery
Robot welding
8. 1.2. Thesis objectives
Develop a teaching-less method using stereo camera for SCARA robot to perform the
pick-and-place feature with high precision.
Build a camera - robot system which can operate based on designed algorithms and
principles.
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Pick-and-place feature with high precision Force Torque Sensor required
22. 03 Software Design
Algorithm design
Thread for position calculating
Thread for end-effector's angle
updating
Thread for communication
between PC and robot controller
Convert distance
User interface design
Main program
Error evaluation experimental
program
Communicate with PC
using robot controller
Setup communication protocol
on robot controller
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26. 3.1. Algorithm design
Thread for end-effector's angle updating
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Rotation matrix obtained from Homogeneous matrix𝑐𝑎𝑚𝑒𝑟𝑎
𝑟𝑜𝑏𝑜𝑡𝑇𝑋𝑌𝑍 :
𝑐𝑎𝑚𝑒𝑟𝑎
𝑟𝑜𝑏𝑜𝑡
𝑅𝑋𝑌𝑍(, , ) =
𝑟11 𝑟12 𝑟13
𝑟21 𝑟22 𝑟23
𝑟31 𝑟23 𝑟33
So the pitch angle is:
= arctan(−𝑟31, 𝑟32
2
+ 𝑟33
2
) (rad)
Calculation of rotation angle difference between two markers:
𝛥𝐴𝑛𝑔𝑙𝑒 =
180 ∗ (𝐻𝑜𝑚𝑒− 𝑆𝑒𝑡𝑝𝑜𝑖𝑛𝑡)
𝜋
(degree)
27. 3.1. Algorithm design
Thread for communication between PC and robot controller
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28. 3.1. Algorithm design
Thread for communication between PC and robot controller
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Time delay for robot moving to Setpoint position:
∆𝑇𝑀𝑜𝑣𝑖𝑛𝑔 𝑚𝑠 =
∆𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒 𝑚𝑚
𝑆𝑝𝑒𝑒𝑑
100
∗ 𝑅𝑜𝑏𝑜𝑡 𝑚𝑎𝑥𝑖𝑚𝑢𝑚 𝑚𝑜𝑣𝑖𝑛𝑔 𝑠𝑝𝑒𝑒𝑑
𝑚𝑚
𝑠
∗ 1000 + 500
- Robot maximum moving speed is set in robot controller to 1000 (mm/s).
- Speed entered by the user, default will be 10 (%).
- Since the robot has time to accelerate and decelerate in each movement and this value cannot
be interfered with or measured, so in this project, I will use 500 (ms) to characterize this time
value.
29. 3.1. Algorithm design
Convert distance using equivalent coordinate system
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Incremental value xRobot = - Incremental value xCamera
Incremental value yRobot = - Incremental value zCamera
Incremental value zRobot = Incremental value yCamera
34. 3.3. Communicate with PC using robot controller
Config IP Address and Port on robot controller
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Programing on robot controller
Config IP Address
36. 04 Experiments and Evaluation
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Setup camera
Setup robot and experimental platform
37. 04 Experiments and Evaluation
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Setup experimental environment
38. 04 Experiments and Evaluation
Determining
repeatability
Checking
distance
correlation
Comparing
feedback
position
Evaluating the
operability of
model
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39. 04 Experiments and Evaluation
4.1. Determining repeatability
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42. 4.1. Determining repeatability
Deviation from the standard position (mm) Repeatability
(mm)
Min Max
1 0.012 0.088 0.045
2 0.016 0.273 0.078
3 0.022 0.116 0.051
Experiment results
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44. 4.2. Checking distance correlation
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Fixed marker to robot end-effector Get end-effector’s position
from robot controller Get marker’s position
from software
46. 04 Experiments and Evaluation
4.3. Comparing feedback position
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47. 4.3. Comparing feedback position
Compare Setpoint’s position sent and Robot’s position received
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Graphing and calculating errors
48. 4.3. Comparing feedback position
Experiment results
With 4 Setpoint unchanged position
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49. 4.3. Comparing feedback position
Experiment results
With 4 Setpoint unchanged position
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50. 4.3. Comparing feedback position
Experiment results
With 4 Setpoint unchanged position
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51. 4.3. Comparing feedback position
Experiment results
With 4 Setpoint unchanged position
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52. 04 Experiments and Evaluation
4.4. Evaluating the operability of model
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53. 4.4. Evaluating the operability of model
Video to demo the operability of model
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54. Conclusion and Development direction
Evaluate the completeness and feasibility of the model
05
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55. 05 Conclusion and Development direction
Conclusion Development direction
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56. 05 Conclusion and Development direction
5.1. Conclusion
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57. 5.1. Conclusion
Achievements
Complete the algorithm to calculate the displacement distance and update the rotation
angle of SCARA robot.
Complete the system with Master and Slave stations to perform the pick-and-place
feature with SCARA robot.
Complete the communication protocol between PC and SCARA robot controller.
Complete user interface.
Complete experiments to verify the operability of model.
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58. 5.1. Conclusion
Difficulties
Due to limitation on the marker’s surface which can reflect IR (3 out of 4), in case
SCARA robot rotate Robot Marker with the blind surface (the surface have no reflecting
point) toward camera, sorfware will unable to calculate and update the end-effector’s
rotation angle.
Haven’t optimized the synchronization solution between the robot's moving time and
the camera’s capture time to update the robot's rotation angle.
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59. 05 Conclusion and Development direction
5.2. Development direction
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60. 5.2. Development direction
Optimize the synchronization solution between the robot's moving time and the
camera’s capture time.
Replace the other marker with no blind surface.
Upgrade the robot system (controller, driver, robot) to minimize the mechanical error.
Build a response system from Slave to Master to inform the current status of robot
(position, velocity, rotation,…).
Build a controller mounted directly to camera in order to reduce system’s size.
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61. Thank you so much
for your interest and attention!
62. Principle of marker recognition
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3D reconstruction of
balls in DRB
: Comparing geometry consists of balls in
DRB
-> Center position, distance between
closer balls, etc.
Rom file data of
balls in DRB
(DRB)