TEHNICAL UNIVERSITY OF CLUJ-NAPOCA CONTRIBUTIONS AND RESEARCHREGARDING ROBOT CONTROL BASED ON IMAGE PROCESSING

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1 Investeşte în oameni! FONDUL SOCIAL EUROPEAN Programul Operaţional Sectorial Dezvoltarea Resurselor Umane Axa prioritară: 1 Educaţia şi formarea profesională în sprijinul creşterii economice şi dezvoltării societăţii bazate pe cunoaştere Domeniul major de intervenţie: 1.5 Programe doctorale și postdoctorale în sprijinul cercetării Titlul proiectului: Proiect de dezvoltare a studiilor de doctorat în tehnologii avansate- PRODOC Numarul de identificare al contractului: POSDRU 6/1.5/S/5 Beneficiar: Universitatea Tehnică din Cluj-Napoca TEHNICAL UNIVERSITY OF CLUJ-NAPOCA Eng. Mircea COMAN Ph.D. THESIS -ABSTRACT- CONTRIBUTIONS AND RESEARCHREGARDING ROBOT CONTROL BASED ON IMAGE PROCESSING Ph.D. Thesis analysis and sustain board: Ph.D. Supervisor: Prof. Radu BALAN,Ph.D. Eng. CHAIRMAN Prof.. Nicolae Burnete, Ph.D. Eng., dean, Faculty of Mechanics, MEMBERS Prof. Radu Bălan, Ph.D. Eng., - supervisor, Prof. Vistrian Mătieș, Ph.D. Eng., - reviewer, Prof. Valer Dolga, Ph.D. Eng., - reviewer, Politehnica Univeristy,Timișoara Prof. Alexandru Bara, Ph.D. Eng., - reviewer, University of Craiova; ;

2 TABLE OF CONTEST 1. Introduction 1.1 Framing of research, general objectives 1.2General aspects regarding robots Manipulators classification Robots features Robots function 1.3State of the art The use of image processing in automotive and traffic monitoring The use of object identification in robot control Complex systems control based on video servoing 2. Mechatronic system simulation 2.1 General aspects regarding simulation 2.2 Simulation of Mitsubishi RV-2AJ serial robot Geometric modelling Simulation of Mitsubishi RV-2AJ dynamic model Adding of the virtual reality module Control simulation for the Mitsubishi RV-2AJ serial robot 2.3 Force control simulation for the Mitsubishi RV-2AJ serial robot Coefficient determination for the PID control algorithm 2.4 Conclusions 3. Robot command and control 3.1 General aspect regarding systems control Open loop control Close loop control PID controller 3.2 Programming the CR-571 controller COSIROP MELFA IV programming language Image to G-code program 3.3 Control of the Mitsubishi RV-2AJ serial robot using Matlab environment 3.4 Conclusions 4 Aspect regarding the use of optical sensors in mechathronic systems 4.1 Introduction 4.2Aspecs regarding the utilised equipment for image acquisition CCD cameras CMOS cameras Colour cameras 4.3 Thin lens camera 4.4Using the Matlab environment for image acquisition and image processing 4.4.1Image acquisition toolbox 4.5 Image segmentation 4.6 Edge detection using the Simulink environment Laplace operator Roberts operator Prewitt operator

3 4.6.4 Sobel operator Kirsch operator Edge detection using the LoG algorithm Edge detection using the Canny algorithm 4.7 Conclusions 5. Design of applications for image processing and robot control 5.1 Application for distance measuring using Simulink environment 5.2 Design of an application for robot positioning and distance measurement 5.3 Design of an application for determining object s position 5.4 Design of image processing applications for object identification 5.5 Design of an application for robot control based on image processing 5.6 Conclusion 6. General conclusions. Personal contributions. 6.1 General conclusions 6.2 Personal contributions. 6.3 Research results valorisation 6.4 New research openings in the field. Bibliography

4 ABSTRACT The paper is structured on 6 chapters and is ending whit bibliographical references and annexes. In chapter 1 entitled Introduction are presented a number of general elements regarding industrial robots. There are presented the functions that the mechathronic systems must meet in order to integrated in the industrial environment. There are briefly presented, in this captor, the researches that where develop in the field of image servoing, usage of images for mechathronic systems control, or for aiding the control system. The main objectives of thesis are also presented: Modelling and simulating mechathronic systems Robot control Robot control based on image processing. Chapter 2 Simulation of the mechathronic systems, presents the general elements regarding simulations and the motivation that determined the use of this approach in the thesis. It was presented also in this chapter the utilisation of virtual reality to visualize the system that simulated systems. Studies regarding system simulation have been developed for the Mitsubishi RV-2AJ serial robot. In these simulations, studies have been made for using the PID control algorithm, for the system control. Chapter 3 entitled Command and control for robotic system presents general aspect regarding the command and control for robotic systems. A series of control algorithms are presented and the implementation of these algorithms in the control systems. It is presented the programming operations for the controller that controls the Mitsubishi RV-2AJ serial robot, using the COSIROP program. The communication between the controller and computer was monitored for obtaining the commands that are used to command the robot controller. This miniaturisation was made during the operation of the COSIROP program. Chapter 4, Aspects regarding usage of optic sensors in mechathronic systems contains information about optical sensors and their utilisation in mechathronic systems. At the beginning of the chapter are presented a series of notions regarding optical sensors and video cameras. It is presented the process that determines the formation of an image on the photosensitive element of the sensor, in the case of using a thin lens camera. There are presented a series of application that resulted from the implementation of the image processing algorithms. There are presented in a detailed manner the environments that were used to communicate with image acquisition devices and to implement the image processing algorithms. There are presented the clearly the effect of the image algorithms on the data processed and the results that are obtained by using them. Chapter five entitled Design of applications for image processing and robot control, presents a series of applications designed for implementing the image processing algorithms and robot control

5 algorithms. An application designed in the Matlab environment is presented, application that performs distance measurement between a video camera and a fixed object. The positioning of the video camera was made using the Mitsubishi RV-2AJ serial robot. The distance measuring application was designed in two versions: the first one was designed in the Simulink/Matlab environment and the second version was designed in Cod M programming code. The second version of the application performs also a subsistem that commands the positioning of the serial robot. An application was designed in order to determine the position of an object placed in a horizontal plane using a video camera and the images that she acquires. The precision of the position estimation was studied by placing the camera in different predefined positions. It was designed an application that implements an image processing based robot control algorithm. This application was configured in order to be utilised for placing the end-effector of the robot over the tracked object and then manipulate the object. Chapter six entitled General conclusions. Personal contributions., presents the conclusions that resulted during the study on the thesis domain. The results that were obtained during the study and the application design period are also presented in this chapter. There are presented the new research openings that were derived as a result of the study and researches made. The papers that were published during the research in the research period are presented and the end followed by bibliography and annexes. The research for the achievement of the thesis was carried out with the financial support obtained through the project POSDRU 6/1.5/S/5, ID7676, PRODOC, co-funded by the European Social Fund through the Sectorial Operational Program Human Resources , major axis 1 - Education and initial quality professional training for supporting the development and economic growth, major area of intervention Doctoral and postdoctoral programs in support of research. Whit this occasion, i would like to bring my best consideration to Prof. Radu Bălan Ph.D. Eng., for his exigent guidance and for his helpful advices during the development of the thesis. I would also like to send thanks to my dear colleagues from the Department of Mechanisms, Fine mechanics and Mechatronics and my family for the constant moral support during the elaboration of the doctorate thesis. Conducător științific : Prof. Dr. Ing. Radu BĂLAN Doctorand Ing. Mircea COMAN