Vision assisted pick and place robotic machine

  • José Luis Arévalo-Hernández Centro de Investigación en Computación del IPN
  • Elsa Rubio-Espino Instituto Politécnico Nacional
  • Victor H. Ponce-Ponce Instituto Politécnico Nacional
  • Humberto Sossa Instituto Politécnico Nacional
Keywords: Image processing, PID control, surface-mount technology

Abstract

We present the design and implementation of a vision-assisted pick and place robotic machine for laboratory activities. The robotic device can automatically locate and pick small electronic components placed in containers in scattered order and put them in their final assembly position, indicated by pre-located visual marks on a printed circuit board. The execution of these tasks is supported by the design of two main systems. The first one consists of an image processing algorithm, fastly and precisely, capable of recognizing objects of interest arranged in containers. The second system involves the design and implementation of a Cartesian robot with four degrees of freedom. The robot's electromechanical assembly design involved implementing a PID controller and a power and sense electronics module. The resulting robotic machine solved the surface-mount capacitors manipulation problem, rendering an accuracy with a maximum deviation angle of ±15°, during the components placement tasks.

Author Biographies

José Luis Arévalo-Hernández, Centro de Investigación en Computación del IPN
JOSE LUIS AREVALO-HERNANDEZ studied the Master of Science in Computer Engineering at the Computer Research Center of the National Polytechnic Institute in Mexico City. He has collaborated with different companies in the area of software design and development. He currently works for the CARSO Research and Development Center, and his interests in research focus on algorithms for digital image processing, soft computing, and automatic control.
Elsa Rubio-Espino, Instituto Politécnico Nacional

Elsa Rubio-Espino obtained a Master's Degree in Electrical Engineering in the specialty of Automatic Control, in the Center for Research and Advanced Studies of the National Polytechnic Institute (IPN) in 1994, obtained a Doctorate in Sciences in the Specialty of Automatic Systems at the National Institute of Applied Sciences of Toulouse, France in 2005. During the period 2009 to 2010, she held a postdoctoral stay at the Center for Scientific Research and Higher Education of Ensenada, BC, Mexico. She currently works at the Computer Research Center of the IPN, within the the Robotics and Mechatronics Laboratory. Her interests in research are focused on the design and control of mobile robots.

Victor H. Ponce-Ponce, Instituto Politécnico Nacional

Victor Hugo Ponce-Ponce received the degree of Engineer in Communications and Electronics from the School of Mechanical and Electrical Engineering (ESIME) of the IPN in 1993, the degree of Master of Science in Electrical Engineering and Doctor of Science in Electrical Engineering from the Center for Research and Advanced Studies of the IPN, in 1994 and 2005, respectively. During the period 2007 to 2008, he made a sabbatical stay at the Polytechnic School of Montreal, Canada. Currently, he is the Head of the Laboratory of Microtechnology and Embedded Systems of the Computer Research Center of the IPN. His interests in research are focused on the design of VLSI systems and Neuromorphic Systems.

Humberto Sossa, Instituto Politécnico Nacional

Juan Humberto Sossa-Azuela is Engineer in Communications and Electronics from the University of Guadalajara in 1981. He obtained the degrees of Master of Science with specialization in Electrical Engineering in the Center for Research and Advanced Studies of the IPN in 1987 and Doctor at the Polytechnic Institute of Grenoble, France in 1992. Dr. Sossa is the Head of the Robotics and Mechatronics Laboratory of the Computer Research Center of the IPN. He is a member of the National System of Researchers Level 3 and of the Mexican Academy of Sciences since 1997. He was Editor in Chief of the Magazine Computación y Sistemas, indexed by CONACYT from 2006 to 2011. He was President of the Mexican Society of Artificial Intelligence of 2002 to 2004. It has organized more than 20 congresses related to the Sciences of the Computation, the Computer science and the Artificial Intelligence.

Published
2021-09-11
How to Cite
Arévalo-Hernández, J. L., Rubio-Espino, E., Ponce-Ponce, V. H., & Sossa, H. (2021). Vision assisted pick and place robotic machine. International Journal of Combinatorial Optimization Problems and Informatics, 12(3), 20-31. Retrieved from https://ijcopi.org/ojs/article/view/244
Section
Articles