This is a course-project made by me and my teammates. In this project, we developed a RRRR 4 axis pick and place robot with a vacuum pads end-effector and implemented trajectory planning and inverse kinematic on it. At the meantime, it can also detected targets by binary edge detection method.
1. Pick & Place Robot Based
on Image Recognition
Member: Chia-Chuan Yu, Li-Han Hsu, Te-Yu Huang, Hsuan-Chen Lu
Adviser: Prof. Han-Pang Huang, Prof. Pei-Chun Lin
3. • Motivation: Picking up and classifying IC chips are tedious
work for human, but be easily completed by robots.
• Goal: Pick up IC on a working platform and place it at a
assigned position.
Goal
4. System Flow Chart
Get Image
Image processing
Trajectory planning
Drive the motor
Send the angle data
6. Servo Motor
• Initializing the duty cycle of signals for different servo motor.
• The accuracy of the end
effector will be affected by
accumulate error of each servo
motor.
8. Mechanism
• Common Robotic Arm
• Scara
• RRP joints
• Move fast
• Only pick the objects horizontally placed
• uArm
• Less motor
• Only pick the objects horizontally placed