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http://repositorio.espe.edu.ec/handle/21000/36966
Titel: | Robot manipulator applied to bottle filling processes : an approach in the teaching-learning process. |
Director(es): | Ortiz Moreano, Jessica Sofia Andaluz Ortiz, Víctor Hugo |
Autor(en): | Guilcazo Chasiloa, Cristian Paúl Nuñez Quishpe, Jefferson Stalyn |
Stichwörter: | REALIDAD VIRTUAL ROBOT MANIPULADOR CONTROL SERVO VISUAL SCORBOT-ER-4U |
Erscheinungsdatum: | 22-Aug-2023 |
Herausgeber: | Universidad de las Fuerzas Armadas ESPE. ESPEL. Carrera de Ingeniería en Electrónica e Instrumentación. |
Zitierform: | Guilcazo Chasiloa, Cristian Paúl. Nuñez Quishpe, Jefferson Stalyn. (2023) Robot manipulator applied to bottle filling processes : an approach in the teaching-learning process. Carrera de Ingeniería en Electrónica e Instrumentación. Universidad de las Fuerzas Armadas ESPE. ESPEL. Sede Latacunga. |
Zusammenfassung: | In this paper, a position-based visual servo control scheme for a bottle packaging process using the ScorBot-ER-4U robot manipulator is proposed. The control scheme considers the eye-to-hand configuration and is based on the kinematic model of the manipulator robot and the perspective projection model of the vision camera (Pinhole Model). The proposed scheme was evaluated on a virtual environment developed in the Unity3D graphics engine; and experimentally with the ScorBot-ER-4U manipulator robot and the ZED 2 stereo vision camera. Finally, it is concluded that the results obtained by simulation and experimentally show that the control errors converge to zero asymptotically. |
URI: | http://repositorio.espe.edu.ec/handle/21000/36966 |
Enthalten in den Sammlungen: | Artículos Académicos - Carrera de Ingeniería Electrónica e Instrumentación (ESPEL) |
Dateien zu dieser Ressource:
Datei | Beschreibung | Größe | Format | |
---|---|---|---|---|
AA-ESPEL-ENI-0513.pdf | ARTÍCULO ACADÉMICO | 1,63 MB | Adobe PDF | Öffnen/Anzeigen |
ESPEL-ENI-0513-P.pdf | PRESENTACIÓN | 3,17 MB | Adobe PDF | Öffnen/Anzeigen |
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