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This paper presents a SCORBOT-ER III type robotic arm which can be controlled only with an FPGA board. The robotic arm is an industrial/educational robotic arm which can execute a high number of tasks, but instead of a computer, only an FPGA development board is the control system. The robotic arm can be used also as a Sun tracker robotic arm. If the position of the sun in tracked the solar panel's...
In this experiment a system was made for measuring distances with stereo cameras using stereo triangulation. Optical distance measurement with video cameras is often used in robotic systems. Any type of robot can elegantly measure distances with optical methods using a stereo camera pair. The optical distance measurement algorithms can be used also for sun tracker robotic arms. The sun is tracked...
This paper presents an evaluation of web cameras used for distance measuring. The web cameras can measure distances optically. Two identical cameras are placed near each other forming a stereo camera system. This system can measure distances using stereo triangulation. The precision of the measurement can vary on many factors, but the key element is the quality of the camera. This paper deals with...
This work shows the control and detection in space of the SCORBOT-ER III industrial/educational robotic arm. The robotic arm has glued markers on the joints, which are distinguished using image processing techniques. These key points on the robotic arm are joined with lines, which are overlaid on the initial image. These lines fill in as direction for further mathematical calculations, which makes...
This experiment presents a robotic arm control in the 3D space using marker detection. The markers have different colors, and are placed at the joints of the robotic arm. The colored markers are distinguished with image recognition algorithm using stereo cameras. The control platform is an FPGA development board running Ubuntu Linux 12.04 LTS graphical operating system. There were two implementations...
This paper presents the creation of a fight game. The whole game was created using Borland Pascal programming language and after it was finished it was ready to be ported on an FPGA. It was used the graph unit to draw all the parts of the fighters. The body parts of the fighters are quite complex, starting from circles to trapezoids. The fighters have also eyes and mouth. It was also made the functionality...
This paper presents the creation of mouse and display drivers on a single microchip. First it was created the mouse driver on PS/2 interface and after it was created the display driver on VGA port. The drivers were implemented in hardware using VHDL on an FPGA. After this they were converted from VHDL code to Verilog code using tools from Mentor Graphics, it was created the layout of the ASIC. After...
This paper presents a robotic arm control application on RS-232 serial interface. The control system of the robotic arm is an FPGA board with a command line Linux operating system installed. The operating system has the RS-232 driver, this way the system has to possibility to send SCPI commands to the robotic arm, this way controlling it. The whole system is an embedded system, where there is no need...
In this paper it will be presented a robotic arm joint recognition and control in space with cameras. The robotic arm is recognized in space and this way it can be controlled using the information from the cameras. The robotic arm's joints are recognized using a neural network which is trained with pattern matching in LabWindows/CVI with Vision Development Module. The pattern matching uses a previously...
The aim of this paper is to present a system powered by a Raspberry PI and an industrial robotic arm, which can execute numerous task in a factory. The used robotic arm and imaging devices are industrial type, but the control system it's a simple development microprocessor board. The robotic arm it's the SCORBOT-ER III and the imagining devices are IP cameras. The goal it's to demonstrate that even...
In this paper a robotic arm control, with color recognition, implemented on a Raspberry PI, will be presented. The Raspberry PI is a small super computer which is suitable for almost any embedded project. To the Raspberry PI is connected a Logitech C270 web camera or a TP-LINK TL-SC3230 IP camera and a USB to serial dongle which does the communication task. The camera pair films the robotic arm and...
This paper presents a method to recognize a robotic arm in space using the Hough circles method. The robotic arm has colored bottle stoppers glued at the joints, which are recognized with color filtering. After this step, the biggest colored spot is detected and marked using the Hough circle method. The joints are numbered, this way each joint's position is known. The joints can be united with lines...
The aim of this device is to create an UART (Universal Asynchronous Receiver/Transmitter) chip on FPGA (Field-Programmable Gate Array) to be able to control (embedded) devices which has a serial interface. In this situation the FPGA acts as mater and controls other slave devices. The challenge for this device is present in the fact for sending whole strings that can be interpreted by the slave device...
In this paper we shall present how we created the serial driver chip which can control the Lynxmotion AL5 type robotic arm. The hardest part was that we had to implement in FPGA the serial driver, but not the usual driver, which can communicate only an 8 bit word with the PC, but to send a whole ASCII string to another device. Most serial drivers on FPGA can respond with a certain character after...
This paper presents a robotic arm control system with stereo vision. Two cameras are used to detect the robotic arm movement in space. Upon this detection the robotic arm is controlled and moved in the desired place. The robotic arm has special markings made from colored bottle stoppers. These colored spots are detected with the color recognition algorithm and this way the robotic arm's position is...
This paper presents the full manufacturing process of an AC — DC power supply. This power supply is a low cost, low power AC — DC power supply. The full process includes the schematics, the PCB, the planting of the components and the testing of the circuit. This whole process is similar to the process done in the industry, but on much reduced scale (only one prototype unit). The whole process was...
This paper presents a robotic arm autonomous movement in the 3D space using image recognition techniques. The aim of the paper is to present the used algorithm which does the movement calculations. Not too many robotic arms have cameras which control them, most of the robotic arms have cameras which recognize the targeted object, but not the arm it's self. This algorithm uses not one, but two cameras...
This paper presents the creation of the chips placement game with backtracking method in Borland Pascal. The chips placement is done on a chess table, where you can place a number of four to eight chips on a 4×4 to 8×8 chess table. The goal is to place each chip that to be the single chip on that row and column and to place all the chips at a time. The goal of the game is to compute all the combinations...
The aim of this paper is to present a device with Linux on FPGA (Field-Programmable Gate Array) which can make image acquisition from cameras. The first challenge is to make the possibility to run Linux on an FPGA. First it's needed to create a microprocessor architecture on FPGA and then to install the Linux system on a flash memory. The chosen microprocessor was the OpenRISC processor and the Linux...
This paper presents a new method how to detect a robotic arm's position. The robotic arm has blue squares glued on key parts (on joints). A camera with color detection software can detect the blue squares and this way detecting the whole robotic arm. If we join the detected colored squares with straight lines, we can create the skeleton of the robotic arm. The color detection is made with special...
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