Question

ud wo M Camera Robot Arm Pen Drive Figure Q2a Robot pick and place with camera module The end-effector of an Omron collaborative robot has a camera module attached to it. The camera is use to recognize an object such as pen drive. The camera will send a signal for the end-effector to pick the targeted object. It is not encourage letting camera focus on the entire body as it will lose focus easily. i. ii. List THREE (3) types of features that are possible to be used to recognise pen drive. Differences the THREE (3) named feature types. With the aid of a diagram, discuss how to apply each feature to ensure robot end-effector be able to pick the pen drive without fail. iii.

Answer 1

i.) The three types of feature that are possible to be used to recognize pen drive are :

a.) Proximity

b.) 3D Vision

c.) Color

ii.) a.) For determining the nearness or farness of the object placed proximity sensor is used. It will help to send a signal to arm to increase/decrease the distance and get closer to the pen drive.

b.) 3D vision helps in determining the x,y,z dimensions of the object. By it, the end effector will place itself

Also, the orientation of the object is known by its co-ordinates by which the arm will rotate corresponding to what is required.

c.) The Colour of the object is determined by photosensor by which the system is able to distinguish between objects and also on the way on how to lift the object.

iii.)

End Effector = Proximity server Distance Pen drive and € dimensions vision determines 3D orientation k z alk Voo vision sensor determines colour of object (Photo) by the virtue of reflected light I object