Development of a Vision System for a Mobile Manipulator to Solid Residue Collection in the Food Sector

Abstract

Due to its versatility, artificial vision has become very useful in different areas, like medicine, where robotic arms and cameras have been incorporated to carry out surgeries that involve a high level of precision. The combination between the robotics and the artificial vision has managed to optimize the performance of robotics arms in the object’s subjection. In this paper, the methodology “V Model” is used for designing of the mobile manipulator, aided by algorithms of artificial vision, to carry out the recognition of objects. These algorithms are implemented on a FIT-PC4 embedded system. The object recognition algorithms can calculate the position of the object in the Euclidean space and through arm kinematics it can collect the objects and deposit them in a container inside the mobile.