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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
Outline
• Motivation
• Teamwork
• Mechanism
• Image Processing
• Trajectory Planning
• System Introduction & Demo
• Future Work
• 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
System Flow Chart
Get Image
Image processing
Trajectory planning
Drive the motor
Send the angle data
Teamwork
Chia-Chuan Yu
• 機械手臂加工
• 零件購買
Li-Han Hsu
• 機械手臂設計
Te-Yu Huang
• 影像辨識處理
Hsuan-Chen Lu
• 控制策略設計
• 手臂軌跡規劃
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.
Mechanism
Objective
• Move in 3D space
• Pick irregular shape objects
• Move stably
Mechanism
• Common Robotic Arm
• Scara
• RRP joints
• Move fast
• Only pick the objects horizontally placed
• uArm
• Less motor
• Only pick the objects horizontally placed
Mechanism
• Final Design
Robotic arm with RRR joints and vacuum chuck.
End Effector Design
• Accuracy compensation in z direction
• Accuracy compensation of angle
Image Processing
Image Processing
166 158 135 123 145
166 172 135 155 134
164 154 157 166 147
163 167 147 0 8
162 122 168 5 8
162 147 158 7 5
…
…
Image Processing
South , clockwise North , clockwise
Image Processing
Trajectory Planning
• Top View
X
Y
θ
θ = atan2(x, y)
d
Rd = sqrt(x^2+y^2) - R
Trajectory Planning
• Side View
d
final initialvia
d/3
via
2d/3
h1
h2h2
H
R
System Introduction
Working Area
Electric Circuits
Power Supply
User Interface
Working Area
Working Platform
Robotic Arm
Web Camera
Placing Platform
Electric Circuits
Vacuum Motor
Relay
Arduino Uno
User Interface
Working Platform Monitor
Location of the Target
Binary Image
Simulation of Trajectory
Demo
Future Work
• Improve accuracy of the servo motor to
catch IC chips faster and more efficiently.
• Classify different IC chips.

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Pick & place robot based on image recognition