Vision-based object’s shape determination for robot alignment

This study provides vision-based system solutions to a peg-in-hole problem facing by a fork lift like robot used to transport copper wire spools from a rack in which the spools are arranged side by side, to a specified place. The copper wire spool is held by 3 round cylindrical shafts; one through t...

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Main Authors:	Farah Adiba, Azman, Mohd Razali, Daud, Amir Izzani, Mohamed, Irawan, Addie, Raja Mohd Taufika, Raja Ismail
Format:	Article
Language:	English
Published:	UTeM 2018
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/19462/ http://umpir.ump.edu.my/id/eprint/19462/ http://umpir.ump.edu.my/id/eprint/19462/1/Vision-Based%20Object%E2%80%99s%20Shape%20Determination%20for%20Robot%20Alignment.pdf

id	ump-19462
recordtype	eprints
spelling	ump-194622019-01-18T08:07:50Z http://umpir.ump.edu.my/id/eprint/19462/ Vision-based object’s shape determination for robot alignment Farah Adiba, Azman Mohd Razali, Daud Amir Izzani, Mohamed Irawan, Addie Raja Mohd Taufika, Raja Ismail TK Electrical engineering. Electronics Nuclear engineering This study provides vision-based system solutions to a peg-in-hole problem facing by a fork lift like robot used to transport copper wire spools from a rack in which the spools are arranged side by side, to a specified place. The copper wire spool is held by 3 round cylindrical shafts; one through the center hole of the spool and another 2 shafts hold at the bottom of the spool. The aim of this development of vision-based system is to make the robot operating autonomously. However, this study scope is limited to copper wire spool detection and confirmation of its alignment compared to camera orientation using a Logitech Webcam C525 which has an autofocus camera and have HD view with lower price. By integrating the Logitech webcam for windows with MATLAB R2016a, all computations, programming and processing of this project are done using the MATLAB. The proposed system uses Circular Hough Transform (CHT) and image processing methods for binarization, morphology and edge detection of the sampled images from real-time video recording. Several simulations have been carried out and from the result obtained, the system is able to detect the copper wire spool with estimated radius in pixel and the alignment of the spool. UTeM 2018 Article PeerReviewed pdf en cc_by http://umpir.ump.edu.my/id/eprint/19462/1/Vision-Based%20Object%E2%80%99s%20Shape%20Determination%20for%20Robot%20Alignment.pdf Farah Adiba, Azman and Mohd Razali, Daud and Amir Izzani, Mohamed and Irawan, Addie and Raja Mohd Taufika, Raja Ismail (2018) Vision-based object’s shape determination for robot alignment. Journal of Telecommunication, Electronic and Computer Engineering, 10 (1-2). pp. 111-115. ISSN 2180-1843 (Print); 2289-8131 (Online) http://journal.utem.edu.my/index.php/jtec/article/view/3330
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Farah Adiba, Azman Mohd Razali, Daud Amir Izzani, Mohamed Irawan, Addie Raja Mohd Taufika, Raja Ismail Vision-based object’s shape determination for robot alignment
description	This study provides vision-based system solutions to a peg-in-hole problem facing by a fork lift like robot used to transport copper wire spools from a rack in which the spools are arranged side by side, to a specified place. The copper wire spool is held by 3 round cylindrical shafts; one through the center hole of the spool and another 2 shafts hold at the bottom of the spool. The aim of this development of vision-based system is to make the robot operating autonomously. However, this study scope is limited to copper wire spool detection and confirmation of its alignment compared to camera orientation using a Logitech Webcam C525 which has an autofocus camera and have HD view with lower price. By integrating the Logitech webcam for windows with MATLAB R2016a, all computations, programming and processing of this project are done using the MATLAB. The proposed system uses Circular Hough Transform (CHT) and image processing methods for binarization, morphology and edge detection of the sampled images from real-time video recording. Several simulations have been carried out and from the result obtained, the system is able to detect the copper wire spool with estimated radius in pixel and the alignment of the spool.
format	Article
author	Farah Adiba, Azman Mohd Razali, Daud Amir Izzani, Mohamed Irawan, Addie Raja Mohd Taufika, Raja Ismail
author_facet	Farah Adiba, Azman Mohd Razali, Daud Amir Izzani, Mohamed Irawan, Addie Raja Mohd Taufika, Raja Ismail
author_sort	Farah Adiba, Azman
title	Vision-based object’s shape determination for robot alignment
title_short	Vision-based object’s shape determination for robot alignment
title_full	Vision-based object’s shape determination for robot alignment
title_fullStr	Vision-based object’s shape determination for robot alignment
title_full_unstemmed	Vision-based object’s shape determination for robot alignment
title_sort	vision-based object’s shape determination for robot alignment
publisher	UTeM
publishDate	2018
url	http://umpir.ump.edu.my/id/eprint/19462/ http://umpir.ump.edu.my/id/eprint/19462/ http://umpir.ump.edu.my/id/eprint/19462/1/Vision-Based%20Object%E2%80%99s%20Shape%20Determination%20for%20Robot%20Alignment.pdf
first_indexed	2023-09-18T22:27:46Z
last_indexed	2023-09-18T22:27:46Z
_version_	1777416081946705920

Vision-based object’s shape determination for robot alignment

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