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Mới vô:
Introductory: (2 min)
- Welcome to the presentation of my thesis. At first, I will introduce the overview of
my thesis.
- As the name suggests, the thesis is consisted of two major objectives. Vision is
applying computer vision technique in the detection of desired object and Control
is applying of controlling method to a 5-DOF robot manipulator.
- The purpose for me to proceed with this topic is that I love practicing with
robotics ever since I came across the Robotics course at school.
Brief summary about the robotic arm and its state of the art: (3 min)
- The first industrial robotic arm was created by George Devol for die-casting plants
of General Motors in 1959. After a decade of applying robotics in its assembly
line, GM plant in Ohio became the automotive plant with the highest production
rate in the world, topping 110 cars per hour which was doubled the rate of any
existing plant.
- After the success of GM, robotic arm began to see more and more application in
various fields. Far from the time of the unsophisticated Unimate, robotic arm have
been growing in sophistication and
o Heavy lifting tasks in automotive plants or steel mills
o Delicate pick and place task in PCB manufacturing
o Performing surgical tasks
o Handling cargoes on the ISS
- In order to make robots truly automated
Description of the system:
- The robotic arm is made from the following components:
o 6 RC-servos: 5 are responsible for the movement of the end-effector, 1 is
for grapping the object. Hence, this robot is of 5-DOF cartegory.
o 1 servo controller that can handle 32 servos simultaneously
o 1 webcam for detecting and calibrating
o Servos horns and brackets for mounting the servo and forms the skeleton of
the robotic arm.
o Gripper and turntable
- The system operation can be described as:
o The camera will capture the images of the calibrating points and the objects
then send them to the computer
 o The computer performs object detection on the origin points and output the
information such as proportion between distance of the calibrating points in
the captured image (px) and in the real world (cm).
o The computer then detects the desired object based the given color and
shape and yields the position of the center point of the object in the image.
Using the calculated proportion between image and real world, the
computer can measure the exact position of the desired object.
o From the obtained position, the process goes on to handle the path planning
and to the inverse kinematics process.
o Finally, the calculated angles will be converted to the PWM that will be fed
to the microcontroller.
- Kinematics:
o The forward kinematics of the robot is obtained through the Denavit-
Hartenberg method. The method describes the functional relationship
between the joint variables and the position and orientation of the end-
effector. And it works for any robot with more than 1 link. In this method,
four parameters are given for each link 𝜃𝑖 , 𝑎𝑖 , 𝑑𝑖 , 𝛼𝑖 .
 Link Length (ai-1): Distance from Zi-1 to Zi measured along Xi-1
 Link offset (di): Distance from Xi to Xi-1 measured along Zi-1
 Link twist (𝛼i-1): Angle from Zi-1 to Zi measured along Xi-1
 Joint angle (𝜃i): Angle from Xi to Xi-1 measured along Zi-1
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