Next Article in Journal
Design of Diaphragm and Coil for Stable Performance of an Eddy Current Type Pressure Sensor
Next Article in Special Issue
Flexible Piezoelectric Energy Harvesting from Mouse Click Motions
Previous Article in Journal
Development of Torque Sensor with High Sensitivity for Joint of Robot Manipulator Using 4-Bar Linkage Shape
Previous Article in Special Issue
The Conceptual Design of a Mechatronic System to Handle Bedridden Elderly Individuals
Article Menu

Export Article

Open AccessArticle
Sensors 2016, 16(7), 1026; doi:10.3390/s16071026

The Integration of the Image Sensor with a 3-DOF Pneumatic Parallel Manipulator

1
Department of Mechanical and Computer-Aided Engineering, Feng Chia University, No. 100, Wenhwa Road, Seatwen, Taichung 40724, Taiwan
2
Department of Engineering Science and Ocean Engineering, National Taiwan University, No. 1, Sec. 4, Roosevelt Rd., Taipei 106, Taiwan
*
Author to whom correspondence should be addressed.
Academic Editor: Dan Zhang
Received: 6 April 2016 / Revised: 24 June 2016 / Accepted: 28 June 2016 / Published: 1 July 2016
(This article belongs to the Special Issue Advanced Robotics and Mechatronics Devices)

Abstract

The study aims to integrate the image sensor for a three-axial pneumatic parallel manipulator which can pick and place objects automatically by the feature information of the image processed through the SURF algorithm. The SURF algorithm is adopted for defining and matching the features of a target object and an object database. In order to accurately mark the center of target and strengthen the feature matching results, the random sample and consensus method (RANSAC) is utilized. The ASUS Xtion Pro Live depth camera which can directly estimate the 3-D location of the target point is used in this study. A set of coordinate estimation calibrations is developed for enhancing the accuracy of target location estimation. This study also presents hand gesture recognition exploiting skin detection and noise elimination to determine the active finger count for input signals of the parallel manipulator. The end-effector of the parallel manipulator can be manipulated to the desired poses according to the measured finger count. Finally, the proposed methods are successfully to achieve the feature recognition and pick and place of the target object. View Full-Text
Keywords: image recognition; parallel manipulator; pneumatic servo system; speed up robust feature algorithm; random sample and consensus algorithm; hand gesture recognition image recognition; parallel manipulator; pneumatic servo system; speed up robust feature algorithm; random sample and consensus algorithm; hand gesture recognition
Figures

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Lin, H.-T.; Chiang, M.-H. The Integration of the Image Sensor with a 3-DOF Pneumatic Parallel Manipulator. Sensors 2016, 16, 1026.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top