Adaptive Control System for the Process of Sorting Objects Using a Robotic Arm

摘要

The paper describes the implementation of a software-hardware complex that implements the sorting of objects by colour using computer vision. The algorithm for determining the working area of the robot-manipulator is given. The control action on the executive mechanism is formed by an algorithm implemented in Python using the C3 Bridge Interface, OpenShowvar and OpenCV software libraries for interaction with the robot and computer vision. A Kuka KR4 6-axis industrial robot manipulator with pneumatic gripper is used as an actuator that performs direct object movement. The developed hardware and software system can serve as a basis for creating flexible robotised manufacturers.