Vision-based trajectory generation for a two-link robotic arm using quadtree decomposition and curve smoothing

Shahed Shojaeipour, Sallehuddin Mohamed Haris, Ehsan Eftekhari, Ali Shojaeipour, Ronak Daghigh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this article, the development of an autonomous robot trajectory generation system based on a single eye-in-hand webcam, where the workspace map is not known a priori, is described. The system makes use of image processing methods to identify locations of obstacles within the workspace and the Quadtree Decomposition algorithm to generate collision free paths. The shortest path is then automatically chosen as the path to be traversed by the robot end-effector. The method was implemented using MATLAB running on a PC and tested on a two-link SCARA robotic arm. The tests were successful and indicate that the method could be feasibly implemented on many practical applications.

Original languageEnglish
Title of host publicationAdvanced Materials Research
Pages1439-1445
Number of pages7
Volume108-111
Edition1
DOIs
Publication statusPublished - 2010
Event2010 International Conference on Advanced Measurement and Test, AMT 2010 - Sanya
Duration: 15 May 201016 May 2010

Publication series

NameAdvanced Materials Research
Number1
Volume108-111
ISSN (Print)10226680

Other

Other2010 International Conference on Advanced Measurement and Test, AMT 2010
CitySanya
Period15/5/1016/5/10

Fingerprint

Robotic arms
Trajectories
Robots
Decomposition
End effectors
MATLAB
Image processing

Keywords

  • Motion planning
  • QD algorithm
  • Robotic manipulator
  • Trajectory curve
  • Visual servo

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Shojaeipour, S., Mohamed Haris, S., Eftekhari, E., Shojaeipour, A., & Daghigh, R. (2010). Vision-based trajectory generation for a two-link robotic arm using quadtree decomposition and curve smoothing. In Advanced Materials Research (1 ed., Vol. 108-111, pp. 1439-1445). (Advanced Materials Research; Vol. 108-111, No. 1). https://doi.org/10.4028/www.scientific.net/AMR.108-111.1439

Vision-based trajectory generation for a two-link robotic arm using quadtree decomposition and curve smoothing. / Shojaeipour, Shahed; Mohamed Haris, Sallehuddin; Eftekhari, Ehsan; Shojaeipour, Ali; Daghigh, Ronak.

Advanced Materials Research. Vol. 108-111 1. ed. 2010. p. 1439-1445 (Advanced Materials Research; Vol. 108-111, No. 1).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Shojaeipour, S, Mohamed Haris, S, Eftekhari, E, Shojaeipour, A & Daghigh, R 2010, Vision-based trajectory generation for a two-link robotic arm using quadtree decomposition and curve smoothing. in Advanced Materials Research. 1 edn, vol. 108-111, Advanced Materials Research, no. 1, vol. 108-111, pp. 1439-1445, 2010 International Conference on Advanced Measurement and Test, AMT 2010, Sanya, 15/5/10. https://doi.org/10.4028/www.scientific.net/AMR.108-111.1439
Shojaeipour S, Mohamed Haris S, Eftekhari E, Shojaeipour A, Daghigh R. Vision-based trajectory generation for a two-link robotic arm using quadtree decomposition and curve smoothing. In Advanced Materials Research. 1 ed. Vol. 108-111. 2010. p. 1439-1445. (Advanced Materials Research; 1). https://doi.org/10.4028/www.scientific.net/AMR.108-111.1439
Shojaeipour, Shahed ; Mohamed Haris, Sallehuddin ; Eftekhari, Ehsan ; Shojaeipour, Ali ; Daghigh, Ronak. / Vision-based trajectory generation for a two-link robotic arm using quadtree decomposition and curve smoothing. Advanced Materials Research. Vol. 108-111 1. ed. 2010. pp. 1439-1445 (Advanced Materials Research; 1).
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