Vision-Based Conveyor Belt Workpiece Grabbing Using the SCARA Robotic Arm

A vision-based selective compliant assemble robot arm (SCARA) is designed to grasp the conveyor belt workpiece in the paper. The SCARA robotic arm is of 4 degree of freedom(DOF) with the pneumatic terminal gripping jaw. The position and orientation of the workpiece are obtained through the image procession of the inter frame difference method on the computer captured by a camera overhead hung up the belt firstly, then they are transferred to the SCARA controller by means of serial port. When the D-H parameter table of the SCARA linkage is built, and the linkage position expression of the forward kinematics is established, the position of the workpiece on the belt is converted to the two linkage joint angles of the SCARA by the cosine theorem. The experiment results show the effectiveness of the proposed method of the SCARA robotic arm grabber.