Path planning for SCARA robot based on marker detection using feature extraction and, labelling

This article addresses selective compliance assembly robot arm (SCARA) robot path planning using markers. Path planning requires the positions and orientations of goal points. A path planning method using markers finds the position and orientation of the markers and recognises the markers one by one to get to the goal points. This method uses two image processes: which are Speeded-Up Robust Features (SURF) and labelling. To obtain the 3D positions of the markers, the coordinate space is transformed from colour space to camera space using a Kinect sensor. This process was implemented on a SCARA robot system. By using D-H (Denavit–Hartenberg) parameters, the SCARA robot’s inverse kinematics transforms the extracted points into joint actuator trajectories. After finding the position and orientation of the markers, the path planning is performed. The time-efficiency of the proposed method is validated through experimental results.