Red Dot Determination with 6 Axis ABB Robot Arm

Abstract

The general aim of this study is to determine the positions of the red points on the surface using techniques of real-time image processing via the camera and user interface mounted on the 6-axis robot arm. The robot arm movement is performed in the simulation environment ABB RobotStudio. 2D Webcam camera is used in the red point detection process. Detection of the red point is done via the interface in MATLAB, depending on three axes. Using the current position of the robot and the image it receives from the camera, the interface detects the correct place of the red point. This process is made using the prepared mathematical formula according to the camera's position. The X, Y , and Z coordinates of the red point can be found on flat surfaces of all shapes with developed software. The goal of this study is to prepare red point detection environment based on six axes.