Abstract:
This paper investigates two real-time vision-based control
algorithms for delta robots. The first one aims to enable the robot to track
different objects based on their colours and shapes. This algorithm does not
need any initial calibration. Instead, it depends on the least squares algorithm
(LSA) to generate the required transformation matrixes. Also, it is implemented
on a standalone controller with no additional time complexity added to the
main controller. The second one is a self-calibrating human hand gesture
tracking algorithm, which can perform automatic calibration and generates
transformation matrixes automatically based on the initial measurements of the
user’s body. The algorithms are designed, implemented, and scheduled in a
real-time manner. The results show that these algorithms can track fast-moving
objects effectively regardless of the initial configuration of the robot. They
provide important solutions for common problems related to visual servoing
such as field of view and calibration.
