Open Architecture of Gryphon Robot for Visual Servo and Tele-operation Tasks

ABSTRACT Open architecture of Gryphon manipulator for visual servo and tele-operation tasks is considered here. Old control system of a Gryphon robotic manipulator is replaced by a new PC-based open source control system for this purpose. A vision sensor is also used to add the ability of working in unstructured environments to the manipulator. Programming is developed using Matlab ® , Simulink ® and XPC Target toolbox. A host computer (control computer), includes Matlab ® control programming, and a target computer are connected via TCP/IP protocol using XPC Target toolbox, making advantage of Internet-based control. Two DAQ cards are used to interface the Gryphon and the target computer and also a digital camera is used as a vision sensor. Visual images are captured through Image Acquisition Toolbox of Matlab ® and processed using Video and Image Processing Blockset (VIPB). Extra sfunction blocks are also added to the VIPB for desired processing tasks. Experimental results are also illustrated. A user friendly interface is programmed to ease the use of control system for users.

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