Vision Assisted Pick and Place Robotic Arm

摘要

This paper presents the design of a Vision assisted pick and place robotic Arm. The main objective of the paper is to pick and place an object from one place to other by 2 DOF robotic arm. USB camera is used as a vision sensor to measure the dimensions of the object to be picked. The USB camera collects the image of the object is transferred to the LabVIEW API with image processing toolkits and modules to process the image. The processed dimension of the object is transmitted via RS-232 serial communication to the microcontroller LPC2129. The appropriate PWM signal is generated by LPC2129 respectively to the servomotors. The robotic arm is designed with servomotors. Digital image processing algorithms are implemented to process the image captured by the USB camera to find the exact dimension of the object thereby to assist the robotic arm to finest. NI-IMAQ -Machine vision based functions are implemented and the results are presented.