Visual Recognition and Its Application to Robot Arm Control
Abstract
:1. Introduction
2. System Setup
- Two neighboring joint relations: the link length ai and the link twist angle αi.
- Two neighboring link relations: the link offset di and the joint angle θi.
3. Pattern Recognition
3.1. Image Processing
3.2. Character Recognition
3.2.1. Match Pattern
3.2.2. Vision Builder for Automated Inspection
3.2.3. Check the Pressed Button
3.2.4. Modified by Dictionary
4. Control Scheme
CoordinatesValues | x (mm) | y (mm) | z (mm) |
---|---|---|---|
Values | |||
Expected Value | 173 | −101 | 25 |
Actual value with 5 rules | 173.272 | −100.986 | 25.0894 |
Actual value with 3 rules | 173.076 | −100.872 | 25.1421 |
Angles | θ1 (deg) | θ2 (deg) | θ3 (deg) | θ4 (deg) |
---|---|---|---|---|
Values | ||||
Error value | 0° | 0.264° | 0.44° | 0.264° |
5. Experimental Results
Word | Recognized % | Problems | Dictionary % |
---|---|---|---|
SWITCH | 93.6 | i recognized as J or 1, or not recognized | 97.6 |
ON | 100 | - | 100 |
OFF | 100 | - | 100 |
WiFi | 78.5 | i recognized as l or 1, or not recognized | 100 |
97.9 | l recognized as i; o recognized as 0 or d, or not recognized | 99.3 | |
Maps | 100 | - | 100 |
Open | 72.4 | o recognized as d; e recognized as o; n recognized as h | 100 |
90 | i recognized as l or 1; l recognized as i or 1 | 95 | |
Hotspot | 99.2 | p not recognized | 99.2 |
5.1. Turn on WiFi
5.2. Send a Message
6. Conclusions
Acknowledgments
Author Contributions
Conflicts of Interest
Appendix A
Joint | ||||
1 | 0 | 90° | 0 | |
2 | 0° | 0 | ||
3 | 0° | 0 | ||
4 | 0° | 0 |
Appendix B
- Level 1:
- Rule 1: If DER is negative big, then M3 is NB.
- Rule 2: If DER is negative small, then M3 is NS.
- Rule 3: If DER is zero, then M3 is Z.
- Rule 4: If DER is positive small, then M3 is PS.
- Rule 5: If DER is positive big, then M3 is PB.
- Where DER is the distance error, which is dr minus r, and M3 is θ3.
- Level 2:
- Rule 1: If NER is negative big, then M4 is NB.
- Rule 2: If NER is negative small, then M4 is NS.
- Rule 3: If NER is zero, then M4 is Z.
- Rule 4: If NER is positive small, then M4 is PS.
- Rule 5: If NER is positive big, then M4 is PB.
- Where NER is the new distance error computed by M3 of level 1, which is dr minus the new r, and M4 is θ4.
- Level 3:
- Rule 1: If A2ER is negative big, then M2 is NB.
- Rule 2: If A2ER is negative small, then M2 is NS.
- Rule 3: If A2ER is zero, then M2 is Z.
- Rule 4: If A2ER is positive small, then M2 is PS.
- Rule 5: If A2ER is positive big, then M2 is PB.
- Where A2ER is the angle error of θ2 computed by M4 of level 2, which is θd2 minus θ2, and M2 is θ2.
- Level 4:
- Rule 1: If A1ER is negative big, then M1 is NB.
- Rule 2: If A1ER is negative small, then M1 is NS.
- Rule 3: If A1ER is zero, then M1 is Z.
- Rule 4: If A1ER is positive small, then M1 is PS.
- Rule 5: If A1ER is positive big, then M1 is PB.
- Where A1ER is the angle error of θ1 computed by M2 of level 3, which is θd1 minus θ1, and M1 is θ1.
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Juang, J.-G.; Tsai, Y.-J.; Fan, Y.-W. Visual Recognition and Its Application to Robot Arm Control. Appl. Sci. 2015, 5, 851-880. https://doi.org/10.3390/app5040851
Juang J-G, Tsai Y-J, Fan Y-W. Visual Recognition and Its Application to Robot Arm Control. Applied Sciences. 2015; 5(4):851-880. https://doi.org/10.3390/app5040851
Chicago/Turabian StyleJuang, Jih-Gau, Yi-Ju Tsai, and Yang-Wu Fan. 2015. "Visual Recognition and Its Application to Robot Arm Control" Applied Sciences 5, no. 4: 851-880. https://doi.org/10.3390/app5040851
APA StyleJuang, J.-G., Tsai, Y.-J., & Fan, Y.-W. (2015). Visual Recognition and Its Application to Robot Arm Control. Applied Sciences, 5(4), 851-880. https://doi.org/10.3390/app5040851