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Enhancing the Path Planning Generation of a Five DOF Manipulator Using Low-Cost Camera-Laser Triangulation Technique

[+] Author Affiliations
Maged M. Abou Elyazed

Technical Research Center, Cairo, Egypt

Ahmed Y. AbdelHamid, Mootaz E. Abo Elnor, Mohamed H. Mabrouk

Military Technical College, Cairo, Egypt

Paper No. IMECE2018-88144, pp. V04AT06A033; 7 pages
doi:10.1115/IMECE2018-88144
From:
  • ASME 2018 International Mechanical Engineering Congress and Exposition
  • Volume 4A: Dynamics, Vibration, and Control
  • Pittsburgh, Pennsylvania, USA, November 9–15, 2018
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-5203-3
  • Copyright © 2018 by ASME

abstract

Robot path planning is considered one of the most significant tasks for industrial robotic arms, especially for those manipulators need to follow a specific path such as welding manipulators. In this work, a low cost camera-laser triangulation technique (CLTT) is implemented to facilitate the process of contact-less path acquiring. A graphical user interface (GUI) under MATLAB® is developed to receive the dominant path points locations from the proposed positioning system and sending the generated path to the robot actuators. the introduced positioning technique (CLTT) is applied practically to develop linear and circular path for a “5-DOF Mitsubishi MELFA RV-2AJ” manipulator. The results show the effectiveness of (CLTT) to achieve fast and accurate positioning system with contact-less target for real time operation.

Copyright © 2018 by ASME

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