Armdroid Auto Picking System using Webcam Sensor

Abstract

This research paper presented a method for controlling the Armdroid. The method is developed to control the Armdroid for picking an object that lay on a surface plane using webcam sensor. The optical camera is used to feed the system continuously with sequence of images which convey the needed pictorial data for allocating the target position. The system is designed to accomplish the tasks required to carry the object and move it to the desired location. The transformation of target position from pictorial coordinate system to real word coordinates was accomplished using 2nd order polynomial transformation to translate the object position from image to real world position. The computation of angles of the robot arm segments is done continually to assure short maneuver route for moving the object. The style of movement is by issuing sequentially the proper commands for moving each segment individually such that a smooth movement is achieved. The conducted results indicated a well movement performance is attained.

Keywords

• ARMDroid Control, Armdroid Pic, Optical Object Tracking, Coordinates Mapping