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Implementation of Computer Vision Guided Peg-Hole Insertion Task Performed by Robot Through LabVIEW

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Advances in Computational Intelligence (MICAI 2016)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10061))

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Abstract

This paper presents a computer vision guided peg hole insertion task conducted by a robot. We mounted two cameras: one capturing top view and the other capturing side view to calibrate the three dimensional co-ordinates of the center position of the peg and hole found in the image to the actual world co-ordinates so that the robot can grab and insert the peg into the hole automatically. We exploit normalized cross correlation based template matching and distortion model (grid) calibration algorithm for our experiment. We exploit a linear equation for the linear and rotational displacement of the arm and gripper of the robot respectively for computing the pulse required for the encoder. We utilize gantry robot to conduct the experiment. The implementation was carried out in LabVIEW environment. We achieved significant amount of accuracy with an experimental error of 5% for template matching and \({\pm } 2.5\) mm for calibration algorithm.

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Author information

Authors and Affiliations

  1. Universidad Autónoma de Nuevo León, San Nicolás de los Garza, Mexico

    Andres Sauceda Cienfuegos & Enrique Rodriguez

  2. Centro de Ingeniería y Desarrollo Industrial (CIDESI), Monterrey, Mexico

    Jesus Romero & David Ortega Aranda

  3. Centro de Investigación en Matemáticas (CIMAT), Monterrey, Mexico

    Baidya Nath Saha

Authors
  1. Andres Sauceda Cienfuegos
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  2. Enrique Rodriguez
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  3. Jesus Romero
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  4. David Ortega Aranda
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  5. Baidya Nath Saha
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Corresponding author

Correspondence to Andres Sauceda Cienfuegos .

Editor information

Editors and Affiliations

  1. Instituto Politécnico Nacional, Centro de Investigación en Computación, Mexico City, Mexico

    Grigori Sidorov

  2. Universidad Autónoma Metropolitana, Mexico City, Mexico

    Oscar Herrera-Alcántara

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Sauceda Cienfuegos, A., Rodriguez, E., Romero, J., Ortega Aranda, D., Saha, B.N. (2017). Implementation of Computer Vision Guided Peg-Hole Insertion Task Performed by Robot Through LabVIEW. In: Sidorov, G., Herrera-Alcántara, O. (eds) Advances in Computational Intelligence. MICAI 2016. Lecture Notes in Computer Science(), vol 10061. Springer, Cham. https://doi.org/10.1007/978-3-319-62434-1_36

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  • DOI: https://doi.org/10.1007/978-3-319-62434-1_36

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-62433-4

  • Online ISBN: 978-3-319-62434-1

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