Visual servoing spanner picking and placement with a SCARA manipulator

This paper presents a vision-based SCARA (Selective Compliance Assembly Robot Arm) system for Spanner Fetching and Placing, which can be applied in the traditional factories. The proposed SCARA discussed in this paper has about 50 cm working ranges, and contains 4 degrees of freedom. It is designed in a low cost way. Except for the motors, all the materials of the component is plastic and aluminum. The main process of the vision system consists of image calibration, image recognition and object localization. First, the image distortion can be reformed in image calibration. Second, the image of spanner placed on workplace is segmented by using color information in image recognition. Last but not least, we can obtain the information about the spanners such as center, length, slope and tool number which relates to length. Then position and rotation command can be delivered to motion controller via Modbus-TCP communication interface. Finally, the results of vision system were discussed in this paper.