Image Acquisition and Processing on Raspberry Pi in Matlab for 3D-Scanning

The paper presents the results of applying a special image processing method on the Raspberry Pi platform using Matlab. An image processing system has been developed using the necessary element base for quick image processing, including image transmission using a camera. A new algorithm for extracting lines on a recognizable image has been developed, which uses a gradient image processing technique. Images were obtained and this system was successfully tested on the Raspberry Pi 3. It is proposed to use this method for a robotic machine vision system, where the video camera is mounted on a robot manipulator that scans the surface

Application of Compensation Algorithms to Control the Movement of a Robot Manipulator

This article presents an application-oriented method for the structural synthesis of control systems for multichannel linear objects. It provides a general form, based on the compensation for object dynamics and disturbances. The algorithm is based onalgebraic transformations of the mathematical model of the object and reference systems. The general procedure for the synthesis of a control algorithm is presented by the example of a SISO first-order object. Parametric robustness and correspondence of the system behavior to its own reference filters were derived. The possibility of applying this method to control non-linear objects presented in the form of "State Dependent coefficient (SDC)" is ascertained. A simplified example is given by the synthesis of the motion control of a one-link manipulator with a drive, described by a second-order nonlinear equation. Control of a two-link manipulator represented by its linearized equation is demonstrated. The convenience of the proposed synthesis method for controlling multi-channel objects under certain simplifications allowed by the specifics of the use of objects is shown. The numerical example shows the independence of the system through individual channels, a zero static error in all the modes of operation and the correspondence of the system behavior to given dynamics