dc.contributor.author | EL NASER, Yusuf Hamida | |
dc.contributor.author | KARAYEL, Durmuş | |
dc.contributor.author | DEMİRSOY, Mert Süleyman | |
dc.contributor.author | SARIKAYA, Muhammed Salih | |
dc.contributor.author | PEKER, Nur Yasin | |
dc.date.accessioned | 2024-09-13T07:16:39Z | |
dc.date.available | 2024-09-13T07:16:39Z | |
dc.date.issued | 2024 | en_US |
dc.identifier.citation | Yusuf, Durmuş KARAYEL, Mert Süleyman DEMİRSOY, Muhammed Salih SARIKAYA, & Nur Yasin PEKER. (2024). Robotic Arm Trajectory Tracking Using Image Processing and Kinematic Equations. Black Sea Journal of Engineering and Science. https://doi.org/10.34248/bsengineering.1445455
| en_US |
dc.identifier.uri | https://doi.org/10.34248/bsengineering.1445455 | |
dc.identifier.uri | https://hdl.handle.net/20.500.14002/2728 | |
dc.description.abstract | This study presents a novel approach for scanning and obtaining object contours within a workspace using a camera and subsequently following these 2-D contours to another region with the assistance of an end effector. The process begins with the determination of boundary lines of object images through advanced image processing methodologies. Subsequently, a conversion from camera pixel coordinates to robot metric coordinates is performed to facilitate trajectory planning for the robotic arm. The trajectory of the robot arm, and consequently, the path followed by the end effector, is determined based on these metric coordinates. The article provides a detailed exposition of the methodology, including the mathematical background and experimental study, showcasing the efficacy and accuracy of the proposed approach in real-world scenarios. This research contributes to the advancement of robotic systems capable of precise trajectory tracking and manipulation tasks in diverse applications. This study involves an innovative approach that combines theoretical and practical methods, including object contour detection using image processing, conversion of pixel coordinates obtained from the camera to robot metric coordinates, robot kinematics, and programming steps. | en_US |
dc.language.iso | eng | en_US |
dc.relation.ispartof | Black Sea Journal of Engineering and Science | en_US |
dc.rights | info:eu-repo/semantics/openAccess | en_US |
dc.subject | Image processing | en_US |
dc.subject | Robot arm | en_US |
dc.subject | Inverse kinematics | en_US |
dc.subject | Trajectory tracking | en_US |
dc.subject | Smart servos | en_US |
dc.title | Robotic Arm Trajectory Tracking Using Image Processing and Kinematic Equations | en_US |
dc.type | article | en_US |
dc.authorid | 0000-0003-4757-6288 | en_US |
dc.authorid | 0000-0001-9326-466X | en_US |
dc.authorid | 0000-0002-7905-2254 | en_US |
dc.authorid | 0000-0002-2809-9896 | en_US |
dc.authorid | 0000-0003-2468-2627 | en_US |
dc.department | Fakülteler, Teknoloji Fakültesi, Mekatronik Mühendisliği Bölümü | en_US |
dc.institutionauthor | EL NASER, Yusuf Hamida | |
dc.institutionauthor | KARAYEL, Durmuş | |
dc.institutionauthor | DEMİRSOY, Mert Süleyman | |
dc.institutionauthor | SARIKAYA, Muhammed Salih | |
dc.institutionauthor | PEKER, Nur Yasin | |
dc.identifier.volume | 7 | en_US |
dc.identifier.issue | 3 | en_US |
dc.identifier.startpage | 436 | en_US |
dc.identifier.endpage | 444 | en_US |
dc.relation.publicationcategory | Makale - Ulusal Hakemli Dergi - Kurum Öğretim Elemanı | en_US |