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Integrating a Low-Cost Stereoscopic Vision System Into a Six Degree of Freedom Robotic Arm for Engineering Education

Nellis, Michael David
http://rave.ohiolink.edu/etdc/view?acc_num=dayton1589283741252993

Abstract Details

2020, Master of Science (M.S.), University of Dayton, Mechanical Engineering.
In order to implement robotic systems for engineering education, an optimum combination of low cost, open source modules and actual industrial systems should be used to give students hands-on experiences with the tools they may use in a future career. The purpose of this work is to expand the options within the former by integrating an open source 3D camera vision system at an added cost of $200 into an already low-cost, $2,400, open source robotics platform. Using the Annin Robotics AR3 robotic arm, and code first developed by Patrik Reizinger, a stereoscopic vision module was integrated and tested. The overall absolute average error of the camera system was found to be 0.41 inches in the X direction, 0.44 inches in the Y direction, and 1.23 inches in the Z direction. Using a 2.5 kg pull force magnetic gripper, the desired tolerance of +/- 0.5 inches in the X and Y direction, and +/- 0.25 inches in the Z, it was found that the X and Y directions are within the tolerance, while the Z requires some improvement. While the error may be beyond our present magnet’s tolerance, it is believed that with a higher powered electromagnet, this system is suitable for use in teaching vision assisted pick and place robotic operations. It is suggested for future improvement to focus on improving the accuracy of the vision system. The combined low-cost system fills a gap in cost efficient engineering educational systems openly available on the current market.
Timothy Reissman, Ph.D. (Committee Chair)
Andrew Murray, Ph.D. (Committee Member)
David Perkins, Ph.D. (Committee Member)
Engineering

Recommended Citations

Citations

  • Nellis, M. D. (2020). Integrating a Low-Cost Stereoscopic Vision System Into a Six Degree of Freedom Robotic Arm for Engineering Education [Master's thesis, University of Dayton]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1589283741252993

    APA Style (7th edition)

  • Nellis, Michael. Integrating a Low-Cost Stereoscopic Vision System Into a Six Degree of Freedom Robotic Arm for Engineering Education. 2020. University of Dayton, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=dayton1589283741252993.

    MLA Style (8th edition)

  • Nellis, Michael. "Integrating a Low-Cost Stereoscopic Vision System Into a Six Degree of Freedom Robotic Arm for Engineering Education." Master's thesis, University of Dayton, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1589283741252993

    Chicago Manual of Style (17th edition)

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This open access ETD is published by University of Dayton and OhioLINK.