Using Soft Computing and Computer Vision to Create and Control an Integrated Autonomous Robotic Manipulator Process

João Rodrigues, Samuel Anjos, Mateus Silva, Mateus Silva, Ricardo Santos, Ricardo Oliveira

2024

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.

Paper Citation

in Harvard Style

Rodrigues J., Anjos S., Silva M., Santos R. and Oliveira R. (2024). Using Soft Computing and Computer Vision to Create and Control an Integrated Autonomous Robotic Manipulator Process. In Proceedings of the 26th International Conference on Enterprise Information Systems - Volume 1: ICEIS; ISBN 978-989-758-692-7, SciTePress, pages 820-827. DOI: 10.5220/0012705600003690

in Bibtex Style

@conference{iceis24,
author={João Rodrigues and Samuel Anjos and Mateus Silva and Ricardo Santos and Ricardo Oliveira},
title={Using Soft Computing and Computer Vision to Create and Control an Integrated Autonomous Robotic Manipulator Process},
booktitle={Proceedings of the 26th International Conference on Enterprise Information Systems - Volume 1: ICEIS},
year={2024},
pages={820-827},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012705600003690},
isbn={978-989-758-692-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 26th International Conference on Enterprise Information Systems - Volume 1: ICEIS
TI - Using Soft Computing and Computer Vision to Create and Control an Integrated Autonomous Robotic Manipulator Process
SN - 978-989-758-692-7
AU - Rodrigues J.
AU - Anjos S.
AU - Silva M.
AU - Santos R.
AU - Oliveira R.
PY - 2024
SP - 820
EP - 827
DO - 10.5220/0012705600003690
PB - SciTePress