MANIPULATION OF AN INDUSTRIAL ROBOT USING A DIGITAL WATCH

AIM:• READ ACCELERATION DATA FROM TI CHRONOSEZ430WATCH

• CALCULATE TILT ANGLE FROM THE ACCELERATION DATA.• PICK AND PLACE / PEG IN A HOLE OPERATIONS.

Acceleration

in X

Acceleration

in Y

Acceleration

in Z

Transmitted through

RADIO FREQUENCY Communication

Tilt Angle Calculated

from

Acceleration Data

SPEED made proportional to TILT

(in that direction)

Manoeuvre ROBOTIC ARM

Transmission to ROBOT using RSI

Calculation of ROBOTSpeed using Tilt angle

Transmission of Acceleration via RF link

Measuring Component of Gravitational Acceleration in X, Y & Z directions

ROBOT MOVES

Transmission to ROBOT using RSI

Calculation of ROBOTSpeed using Tilt angle

Transmission of Acceleration via RF link

Measuring Component of Gravitational Acceleration in X, Y & Z directions

ROBOT MOVES

FARAZ AHMAD, ARUN DAYAL UDAI, SUBIR K SAHA

PROGRAMME FOR AUTONOMOUS ROBOTICS

INDIAN INSTITUTE OF TECHNOLOGYDELHI

• Chronos EZ 430 Watch isequipped with anaccelerometer.

• The acceleration in X, Y & Zdirections are acquired in thesystem via RF communication

• Acceleration data is used tocompute tilt.

• The speed of the Robotic Armis made proportional to the tiltangle in that particulardirection.

• The <*> and <#> buttons areused to manipulate in the UPand DOWN direction.

• Gripper is opened and closedby toggling the <Δ> (or <UP>)button.

POSE ESTIMATION OF PELLET FOR ASSEMBLY TASK: USING INDUSTRIAL ROBOT

Robotic Arm

(Manipulator)

Camera

ABDULLAH A HAYAT, FARAZ AHMAD, RIBY A BOBY, ARUN D UDAI, S K SAHA,SUMANTRA DUTTA ROY, SANTANU CHAUDHURY

PROGRAMME FOR AUTONOMOUS ROBOTICS

INDIAN INSTITUTE OF TECHNOLOGY DELHI

DETECT CYLINDRICAL

PELLETS

CALCULATE ITS POSITION

AND ORIENTATION USING

SVD

PICK UP AND PLACE IN A

BOX/ INSERT IN A HOLE.

AI

M

Image Acquisition

Detecting Standing

Pellets from the Top View

Segmentation of the

Remaining Pellets

Calculation of the Pellet Position

Computation of Pellet

Orientation using SVD

Hole Detection

WORK FLOW

RESULT

-5

-4

-3

-2

-1

0

1

2

3

4

5

0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180

Erro

r (i

n %

-age

)

ANGLE (in degrees)

Error in Angle Computation using SVD

Error in Angle Computation using SVD

0

10

20

30

40

50

60

70

80

90

100

110

120

130

140

150

160

170

180

0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180

An

gle

Cal

cula

ted

fro

m S

VD

(in

Deg

rees

)

Actual Angle (in Degrees)

Angles

Angles

0

0.5

1

1.5

2

2.5

3

3.5

4

4.5

5

0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180 190 200

Co

rrec

tio

n δ

(in

mm

)

Distance of detected center from the image center (in mm)

Correction δ (in mm)

Results for SVD based Pose Determination

Result for Hole Correction

Programme for Autonomous Robotics

POSE ESTIMATION OF PELLET FOR ASSEMBLY TASK: USING INDUSTRIAL ROBOT

AIM:• DETECT CYLINDRICAL PELLETS.• CALCULATE ITS POSITION AND

ORIENTATION USING SVD.• PICK UP AND PLACE IN A BOX/ INSERT

IN A HOLE.

WORKING:

DROP / INSERTION

PICK UP

POSE COMPUTATION

SEGMENTATION

IMAGE ACQUISITION

Camera Grabs Image of the Workspace

Computer Program detects

the pellets.

Pellet Position Computed

Pellet Orientation Computed

Pellet Pose Sent to Robotic

Manipulator

Robot Picks-up the pellet and drops in a box/ inserts in a hole

3D Occluded Pellets Mild Occluded PelletsStanding and Lying Down

PelletsMultiple Aligned Pellets

RESULTS

SETU

P Lying Pellets

Robotic Arm

(Manipulator)

Standing Pellets

Camera