TOPIC SEMINAR

“Vision Guided Robotics”

By
Vijay S

(USN – 4PS07ME093)

PESCE MANDYA

ABSTRACT:

Many researchers have turned to sensing, and in particular computer vision, to

create more flexible robotic systems. Computer vision is often required to provide data

for the grasping of a target. Using a vision system for grasping presents several issues

with respect to sensing, control, and system configuration. This paper presents some of

these issues in concert with the options available to the researchers.

This paper also contains practical examples of different types of vision guided

robotics for an easy understanding of the vision guided robotics concept. The present

world requirement for robotics application gives a strong baseline for this topic. Hence

we discuss various applications of the robotic context.

VISION GUIDED ROBOTICS Page 1

 TOPIC SEMINAR

INTRODUCTION:

We have heard of the word “robots” during all your life; however we do not hear about

the word “robotics” to often. In this paper we are going to cover the basic concepts of

robotics. Let us start with a definition of the word itself; Robotics is a science of modern

technology of general purpose of programmable machine systems. Contrary to the

popular fiction image of robot as ambulatory machines of human appearance capable of

performing almost any task. Most robotic systems are anchored to fixed positions in

reality with limit mobility. Robots perform a flexible, but restricted, number of

operations in computer-aided manufacturing processes. These systems minimally contain

a computer or a programmable device to control operations and effecters, devices that

perform the desired work. The next paragraph represents the vision or general definition

of robots according to the scientific knowledge and technology of that era.

GENERAL DEFINITION FOR ROBOT:

"A re-programmable, multifunctional mechanical manipulator designed to move material,

parts, tools, or specialized devices through various programmed motions for the

performance of a variety of tasks" - From the Robot Institute of America, 1979

Robotics is a science that combines a range of fields like Mechanical Engineering,

Electrical Engineering, and Computer Science. Robotics is ideal for juvenile engineering

students because it exposes them to hands-on applications of math, science, and

engineering concepts. In addition, robotics motivates potential scientists and engineers to

understand how things work and encourages them to use their imagination to create new

technologies and improve old technologies. The next part of introduction should cover

the main components of a robot including some basic concepts.

VISION GUIDED ROBOTICS Page 2

 TOPIC SEMINAR

ROBOT COMPONENTS:

 Mechanical platforms -- or hardware base is a mechanical device, such as a

wheeled platform, arm, fixed frame or other construction, capable of interacting with

its environment and any other mechanism involve with his capabilities and uses.

 Sensors systems is a special feature that rest on or around the robot. This device

would be able to provide judgment to the controller with relevant information about

the environment and give useful feedback to the robot. So it is able to perform his

task.

 Joints provide more versatility to the robot itself and are not just a point that connects

two links or parts that can flex, rotate, revolve and translate. Joints play a very crucial

role in the ability of the robot to move in different directions providing more degree

of freedom.

 The Controller process sensory input in the context of the device's current situation

commanding the robot position and orientation of the tool or any part correctly in

space at all times. In other words, it is a computer used to command the robot memory

and logic. So it, be able to work independently and automatically. The controller

functions as the "brain" of the robot.

 Power Source is the main source of energy to fulfill all the robots needs. It could be a

source of direct current as a battery, or alternate current from a power plant, solar

energy, hydraulics or gas.

 Artificial intelligence represents the ability of computers to "think" in ways similar to

human beings. Examples might be reasoning, adaptation, decision making, and

learning from mistakes. On the other hand, not all robots possess this type of

capability. It requires a lot of programming and sophisticates controllers and sensorial

ability of the robot to reach this level.

VISION GUIDED ROBOTICS Page 3

 TOPIC SEMINAR

HISTORY:

The word "robot" has its origin from the German word "robat". This word

survived in the Polish and Czeckish languages as "robota" and means compulsory labor.

It appears that the science fiction writer Isaac Asimov was the first to use the word

"robotics" to describe robot technology.

THE FIRST ROBOTS:

Joseph Engelberger : Father of Robotics

Joseph Engel Berger, in the picture, is entitled to be the father of robotics, together

with George Deroe developed the first commercial robot, Unimate, in 1961. It was placed

on Ford and was there used for a press-loading operation. A picture of the first generation

robots from Unimate can be seen in the picture below.

Unimate : A first generation robot

VISION GUIDED ROBOTICS Page 4

 TOPIC SEMINAR

The first robots were principally intended to replacing humans in monotonous,

heavy and hazardous processes. Distinctive features of the use of the newly developed

robots were in handling of materials and work pieces without direct control or

participation in the manufacturing process. Robots did not become a major force in

industry generally until they had been used extensively in the Japanese automobile

industry.

PHYSICAL ROBOT CONFIGURATIONS:

Over the years robot manufacturers have developed many types of robots of

differing configurations and mechanical design, to give a variety of spatial arrangements

and working volumes. These have evolved into six common types of system: Cartesian,

Cylindrical, Spherical, SCARA (Selective Compliance Assembly Robot Arm), Articulated

arm, and Parallel Robots.

“Workspace envelope” is one of the new terms that are going to be covered in the

following table. It really describes how the robot is constrained by its mechanical systems

configuration. Each joint of a robot has a limit of motion range. By combining all the

limits, a constrained space can be defined. A workspace envelope of a robot is defined as

all the points in the surrounding space that can be reached by the robot. The area

reachable by the end effectors itself is usually not considered part of a work envelope.

Clear understanding of the workspace envelope of a robot to be used is important because

all interaction with other machines, parts, and processes only takes place within this

volume of space.

VISION GUIDED ROBOTICS Page 5

 TOPIC SEMINAR

Physical Configurations Model Workspace

Envelope
Cartesian robot it is form by 3

prismatic joints, whose axes are

coincident with the X, Y and Z

planes. These robots move in three

directions, in translation, at right

angles to each other.

Cylindrical robot is able to rotate along his

main axes forming a cylindrical shape.

The robot arm is attached to the slide

so that it can be moved radially with

respect to the column.

Spherical robot is able to rotate in two

different directions along his main axes and

the third joint moves in translation forming a

hemisphere or polar coordinate system.

It used for a small number of vertical

actions and is adequate for loading

and unloading of a punch

SCARA robot which stands for Selective

Compliance Assembly Robot Arm it is built

with 2 parallel rotary joints to provide

compliance in a plane. The robots work in the

XY-plane and have Z-movement and a

rotation of the gripper for assembly.

VISION GUIDED ROBOTICS Page 6

 TOPIC SEMINAR

Articulated robots are mechanic

manipulator that looks like an arm

with at least three rotary joints. They

are used in welding and painting;

gantry and conveyor systems move

parts in factories.

Parallel robot is a complex mechanism

which is constituted by two or more

kinematics chains between, the base and the

platform where the end-effector is located.

Good examples are the flying simulator and

4-D attractions at Univ. Studios

Table of physical configuration of Robotics

ROBOT VS HUMAN COMPARISION:

ROBOT ADVANTAGES:

1. Strength

2. Accuracy

3. Speed

4. Does not tire

5. Does repetitive tasks

VISION GUIDED ROBOTICS Page 7

 TOPIC SEMINAR

6. Can Measure

HUMAN ADVANTAGES:

1. Intelligence

2. Flexibility

3. Adaptability

4. Skill

5. Can Learn

6. Can Estimate

VISION FOR ROBOTICS:

1. Accurate Robot-Object Positioning

2. Keeping Relative Position under Movement

3. Visualization / Teaching / Telerobotics

4. Performing measurements

5. Object Recognition

6. Registration

VISION SENSORS:

VISION GUIDED ROBOTICS Page 8

 TOPIC SEMINAR

Vision sensors are machine vision video cameras with integrated signal processing

and imaging electronics. Vision Sensors analyze images to perform appearance

inspections, character inspections, positioning and defect inspections.

When specifying vision sensors, it is important to determine whether a

monochrome or color sensor is needed.  Monochrome vision sensors present the image in

black and white, or grayscale. Color sensing vision sensors are able the read the spectrum

range using varying combinations of different discrete colors. One common technique is

sensing the red, green, and blue components (RGB) and combining them to create a wide

spectrum of colors. Multiple chip color is available on some vision sensors.  It is a

method of capturing color in which multiple chips are each dedicated to capturing part of

the color image, such as one color, and the results are combined to generate the full color

image. They typically employ color separation devices such as beam splitters rather than

having integral filters on the sensors.

ISSUES/PROBLEMS OF VISION GUIDED ROBOTICS:

1. Measurement Frequency

2. Measurement Uncertainty

3. Occlusion, Camera Positioning

4. Sensor dimensions

VISUAL SURVEYING:

VISION GUIDED ROBOTICS Page 9

 TOPIC SEMINAR

Vision provides surveying services for many applications to aid more accurately

for works required.

1. Vision System operates in a closed control loop.

2. Better Accuracy than Look and Move systems.

3. Maintaining relative Object Position

4. Accurate control system for sensing

APPLICATIONS:

Robots are classified on the basis of area of application and are listed below with

examples. On the right column we can find pictorial representation of each classification.

Types of robots according its application Picture

VISION GUIDED ROBOTICS Page 10

 TOPIC SEMINAR

Industrial Robots are found in a variety of locations including

the automobile and manufacturing industries. However, robot

technology is relatively new to the industrial scene their roll

consists of welding, painting, material handling and assembling.

Educational Robots one example is the Hex Avoider. It is a

programmable mobile robot designed to move independently and

avoid obstacles. Hex avoider use infrared emitters and receivers

to sense its environment. Their roll is demonstrational for

teaching basic concepts and gets the attention of future engineers

to this field

Mobile Robots (Transportation) these types of robot operate by

control remote deploying sensor position. Their roll consist of

sampling payloads, mapping surface and creating a photorealistic

3D models and sent back any kind of visual information of

building interiors and any environmental data.

Robots in Space are name as Remotely Operated Vehicle (ROV).

It can be consistent with an unmanned spacecraft that remains in

flight or a lander that makes contact with an extraterrestrial body

and operates from a stationary position, or a rover that can move

over terrain once it has landed.

VISION GUIDED ROBOTICS Page 11

 TOPIC SEMINAR

Agricultural Robots one example is the Demeter harvester it

contains new controllers, proximity sensors, safeguards and task

software specialized to the needs of commercial agriculture

processes.

Health Care Robots they are able to perform simple task and

improve some medical protocol and procedures. An example is

the daVinci’ Robotic Surgical System. It is a manipulator guided

by surgeon’s hands placed in the robotic console, it increased the

precision movements, provides top-quality clinical outcomes and

is cosmetically superior to open surgery

CONCLUSION:

It is clear by this paper that robotics is having a great future scope as well as

present market. Especially when it comes to vision sensing and vision guided robotics the

future is bright and glowing. By means of its applications we have come across the

importance of vision guided robotics. New generation engineers should be encouraged to

take up the robotics sector for their specialization.

Vision guided robotics has its application in the fields like health sector,

industries, space robotics, defense sector, and so on. Researchers are working hard every

VISION GUIDED ROBOTICS Page 12

 TOPIC SEMINAR

day to bring new edge to the technology. It is time for us; Engineers to join hands in

robotics sector and make this world a better place to live.

REFERENCE:

1. “Robotics: Control, Sensing, Vision, and Intelligence” - R.C. Gonzalez

2. "Fundamentals of Mechanics of Robotic Manipulators" - Marco Ceccarelli

3. “Tutorial on robotics” - C.S.G. Lee et.al.

VISION GUIDED ROBOTICS Page 13