Authors:
João Rodrigues
1
;
Samuel Anjos
1
;
Mateus Silva
1
;
2
;
Ricardo Santos
1
and
Ricardo Oliveira
1
Affiliations:
1
Departmento de Computação - DECOM, Universidade Federal de Ouro Preto - UFOP, Ouro Preto, Brazil
;
2
Instituto Tecnológico Vale, Universidade Federal de Ouro Preto - UFOP, Ouro Preto, Brazil
Keyword(s):
Soft Computing, Robotic Manipulator, Object Detection, Evolutionary Algorithm, Inverse Kinematics.
Abstract:
The development and control of an integrated autonomous robotic manipulation process requires a focus on the convergence of technologies such as soft computing, object detection, robotic arm engineering, and direct and inverse kinematics. For instance, the inverse kinematics issue can be targeted using soft computing instead of challenging mathematical applications. This paper explores using soft computing systems, an algorithm that produces approximate solutions to complex problems and phenomena. Thus, the use of soft computing proved valid, given the accuracy and speed of the claw. The soft computing technology is based on an evolutionary algorithm that allows us to create several points on a cartesian plane and mix them to implement inverse kinematics. Our results showed that using soft computing, which is different from the traditional way, leads to solid and functional results. The implementation involves integrating Arduino, Raspberry Pi 4.0, a PWM model PCA9685, a camera, and
six servo motors to create a robotic arm. The system employs video streaming to transmit data to a local network, where the Raspberry Pi processes RGB to HSV images for object identification. The present work in this paper has experiments for the accuracy and speed of the claw to take a determinate object from the center and the side of the checkered board.
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