Servo Control Visual de un Brazo Robótico de 4 GDL.

Abstract

It has been performed the simulation of a visual servo control of a 4 degrees of freedom robotic arm (DOF) implemented in Matlab, this research was conducted at the Escuela Superior Politécnica de Chimborazo. The necessary study for the implementation of the artificial vision system was performed. Besides, libraries about robotics programming environment Matlab were used. The vision system is extremely important because it gives us real image, the image must be processed with help for the robot developed in the Matlab program unfolds efficiently. It should be take into account factors such as lighting respect to the system, there should be no problems with image recognition. Bear in mind also that the object to be detected is white and must not exceed the size of the work area is 20 x 15 cm; Furthermore, the object is cubic or spherical shape. The results at the time of image recognition were satisfactory in 95% when operating the robot motion, image processing was the right leading to the simulation is operated correctly, in order to simulate the detection process and transfer of a part similar to mechanical parts selection process in an industry, demonstrating this way that 100% of the operation of the machine vision is applied in the industry. In conclusion after conducting research, Visual Servo Control is a technique that allows us to improve industrial processes, these processes are mechanical parts assembly, quality control, vehicle assembly processes, and it can also be used in pharmaceutical industries and in the timber. Students are recommended to perform this type of research for the purpose of publicizing that robotics is a required field within certain industries.