Industrial delta robots with motion-and vision-base controllers, providing high-precision and fast/flexible motion, normally come with high cost and complex software. Low-cost delta robots with vision solution could be beneficial to vast industries to increase productivity and to reduce labor cost. A delta robot using a low-cost motion controller and an open-source vision system is developed to accomplish real-time visual servoing with high motion accuracy. In the low-cost motion controller, three parallel links’ upper-arm angles, computed from inverse kinematics for a given desired target position by a high-level computer, are used as reference position commands for three AC-motor drives. A low-level Arduino microcontroller is employed to convert these links’ angles to high-frequency pulses and on-off signals for synchronously controlling three motor angles and direction. Experimental results of a point-to-point motion tracking exhibit high-precision repeatability. Synchronous pulse generation from Arduino microcontroller and structural misalignments of parallel links are major challenges for achieving high motion accuracy. For the vision-based system, the YOLOv5 algorithm is implemented along with a Python GUI Application. Then, the visual-servo performance is evaluated on localization accuracy and recognition rate of 3-color objects. However, a partial object occlusion can reduce the visual classification rate. A sorting task of 4-category medicine boxes demonstrate a high-speed pick-and-place operation using the low-cost visual-servo system of this delta robot. Therefore, integration of low-cost visual servoing with this delta robot can revolutionize various industries, like automobile, pharmaceutical, and food sectors, in separating, sorting and packing applications.


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    Title :

    Visual Servo Kinematic Control of Delta Robot using YOLOv5 Algorithm



    Publication date :

    2023-11-26


    Remarks:

    doi:10.18196/jrc.v4i6.19102
    Journal of Robotics and Control (JRC); Vol 4, No 6 (2023); 818-831 ; 2715-5072 ; 2715-5056 ; 10.18196/jrc.v4i6



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




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