Experimentation of a modular manipulation robot with a VA

Abstract

In this issue, a second installment is made in the IPSUMTEC magazine of the TecNM/Technological Institute of Milpa Alta, of the partial results achieved in the project of a Manipulator Robot with Artificial Vision(VA) for applications with fruits and seeds in the agricultural industry and of food. Here is the schematic and wiring diagram between the Arduino Mega card and the structure of the robot, its servomotors and the potentiometers that, through gear structures, read the position of each of the servomotors that emulate the links of the trunk or waist, of the shoulder and elbow, in a behavior like the Cincinnati Milacron T³ robot and the PUMA robot from Unimation. In the operation, we start from an image in jpg format from which a circular figure of red, green or blue is extracted, because the background is colored white; from that figure we obtain the color and its position in a plane divided into three lines by three columns or 9 sectors. In master-slave operation, the computer passes to the Arduino-Mega card the color and sector in which the figure is identified. With the color and position data received, the slave digital system executes the positioning routines of a light marker that points in a plane towards the sector in which the figure was found. What follows from this project, future work; is the development of simple applications through movements with inverse kinematics.